PR #9254 from Avishag: Add support for Vertical binning control

IntelRealSense · Jun 27, 2021 · 79efea8 · 79efea8
2 parents 7ee5e7e + 6e903d2
commit 79efea8
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Showing 10 changed files with 19 additions and 5 deletions.
diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h
@@ -111,6 +111,7 @@ extern "C" {
         RS2_OPTION_AUTO_GAIN_LIMIT, /**< Set and get auto gain limits ranging from 16 to 248. Default is 0 which means full gain. If the requested gain limit is less than 16, it will be set to 16. If the requested gain limit is greater than 248, it will be set to 248. Setting will not take effect until next streaming session. */
         RS2_OPTION_AUTO_RX_SENSITIVITY, /**< Enable receiver sensitivity according to ambient light, bounded by the Receiver Gain control. */
         RS2_OPTION_TRANSMITTER_FREQUENCY, /**<changes the transmitter frequencies increasing effective range over sharpness. */
+        RS2_OPTION_VERTICAL_BINNING, /**< Enables vertical binning which increases the maximal sensed distance. */
         RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_option;
 

diff --git a/src/l500/l535-amc-option.h b/src/l500/l535-amc-option.h
@@ -20,7 +20,8 @@ namespace l535 {
         invalidation_bypass = 7,
         alternate_ir = 8,
         auto_rx_sensitivity = 9,
-        transmitter_frequency = 10
+        transmitter_frequency = 10,
+        vertical_binning = 11
     };
 
     enum amc_command

diff --git a/src/l500/l535-device-options.cpp b/src/l500/l535-device-options.cpp
@@ -47,7 +47,10 @@ device_options::device_options( std::shared_ptr< librealsense::context > ctx,
             { RS2_OPTION_AUTO_RX_SENSITIVITY, 
               { auto_rx_sensitivity, "Enable receiver sensitivity according to ambient light, bounded by the Receiver Gain control" } },
             { RS2_OPTION_TRANSMITTER_FREQUENCY,
-              { transmitter_frequency, "Change transmitter frequency, increasing effective range over sharpness" } }
+              { transmitter_frequency, "Change transmitter frequency, increasing effective range over sharpness" } },
+            { RS2_OPTION_VERTICAL_BINNING,
+              { vertical_binning, "Enables vertical binning which increases the maximal sensed distance" } }
+
         };
 
         for( auto i : options )

diff --git a/src/types.cpp b/src/types.cpp
@@ -444,6 +444,7 @@ namespace librealsense
             CASE(AUTO_GAIN_LIMIT)
             CASE(AUTO_RX_SENSITIVITY)
             CASE(TRANSMITTER_FREQUENCY)
+            CASE(VERTICAL_BINNING)
         default: assert(!is_valid(value)); return UNKNOWN_VALUE;
         }
 #undef CASE

diff --git a/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java b/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Option.java
@@ -90,7 +90,8 @@ public enum Option {
     AUTO_EXPOSURE_LIMIT(85),
     AUTO_GAIN_LIMIT(86),
     AUTO_RX_SENSITIVITY(87),
-    OPTION_TRANSMITTER_FREQUENCY(88);
+    OPTION_TRANSMITTER_FREQUENCY(88),
+    RS2_OPTION_VERTICAL_BINNING(89);
 
     private final int mValue;
 

diff --git a/wrappers/csharp/Intel.RealSense/Types/Enums/Option.cs b/wrappers/csharp/Intel.RealSense/Types/Enums/Option.cs
@@ -279,6 +279,9 @@ public enum Option
         auto_rx_sensitivity = 87,
 
         /// <summary>Change transmitter frequency, increasing effective range over sharpness</summary>
-        transmitter_frequency = 88
+        transmitter_frequency = 88,
+
+        /// <summary>Enables vertical binning which increases the maximal sensed distance</summary>
+        vertical_binning = 89
     }
 }
diff --git a/wrappers/matlab/option.m b/wrappers/matlab/option.m
@@ -90,6 +90,7 @@
         auto_gain_limit                 (86)
         auto_rx_sensitivity             (87)
         transmitter_frequency           (88)
-        count                           (89)
+        vertical_binning                (89)
+        count                           (90)
     end
 end
diff --git a/wrappers/nodejs/src/addon.cpp b/wrappers/nodejs/src/addon.cpp
@@ -4783,6 +4783,7 @@ void InitModule(v8::Local<v8::Object> exports) {
   _FORCE_SET_ENUM(RS2_OPTION_AUTO_GAIN_LIMIT);
   _FORCE_SET_ENUM(RS2_OPTION_AUTO_RX_SENSITIVITY);
   _FORCE_SET_ENUM(RS2_OPTION_TRANSMITTER_FREQUENCY);
+  _FORCE_SET_ENUM(RS2_OPTION_VERTICAL_BINNING);
   _FORCE_SET_ENUM(RS2_OPTION_COUNT);
 
   // rs2_camera_info

diff --git a/wrappers/python/pybackend.cpp b/wrappers/python/pybackend.cpp
@@ -187,6 +187,7 @@ PYBIND11_MODULE(NAME, m) {
         .value("auto_gain_limit", RS2_OPTION_AUTO_GAIN_LIMIT)
         .value("auto_rx_sensitivity", RS2_OPTION_AUTO_RX_SENSITIVITY)
         .value("transmitter_frequency", RS2_OPTION_TRANSMITTER_FREQUENCY)
+        .value("vertical_binning", RS2_OPTION_VERTICAL_BINNING)
         .value("count", RS2_OPTION_COUNT);
 
     py::enum_<platform::power_state> power_state(m, "power_state");

diff --git a/wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h b/wrappers/unrealengine4/Plugins/RealSense/Source/RealSense/Public/RealSenseTypes.h
@@ -143,6 +143,7 @@ enum class ERealSenseOptionType : uint8
     AUTO_GAIN_LIMIT                            , /**< Set and get auto gain limits ranging from 16 to 248. Default is 0 which means full gain. If the requested gain limit is less than 16, it will be set to 16. If the requested gain limit is greater than 248, it will be set to 248. Setting will not take effect until next streaming session. */
     AUTO_RX_SENSITIVITY                        , /**< Set and get auto receiver sensitivity.*/
     TRANSMITTER_FREQUENCY                      , /**< Change transmitter frequency, increasing effective range over sharpness. */
+    VERTICAL_BINNING                           , /**< Enables vertical binning which increases the maximal sensed distance. */
 };
 
 UENUM(Blueprintable)