Add the option to enable laser always on and fixed a minor performanc…

common/rendering.h

@@ -131,7 +131,8 @@ namespace rs2
 
         float3 normalize() const
         {
-            return (length() > 0)? float3{ x / length(), y / length(), z / length() }:*this;
+            float len = length();
+            return (len > 0)? float3{ x / len, y / len, z / len }:*this;
         }
     };
 

include/librealsense2/h/rs_option.h

@@ -84,6 +84,7 @@ extern "C" {
         RS2_OPTION_LED_POWER, /**< Power of the LED (light emitting diode), with 0 meaning LED off*/
         RS2_OPTION_ZERO_ORDER_ENABLED, /**< Toggle Zero-Order mode */
         RS2_OPTION_ENABLE_MAP_PRESERVATION, /**< Preserve previous map when starting */
+        RS2_OPTION_EMITTER_ALWAYS_ON, /**< Enable Laser On constantly (GS SKU Only) */
         RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_option;
 

src/ds5/ds5-device.cpp

@@ -749,6 +749,11 @@ namespace librealsense
             depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF, std::make_shared<emitter_on_and_off_option>(*_hw_monitor, &raw_depth_sensor));
         }
 
+        if ((_fw_version >= firmware_version("5.12.1.0")) && ((_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER))
+        {
+            depth_sensor.register_option(RS2_OPTION_EMITTER_ALWAYS_ON, std::make_shared<emitter_always_on_option>(*_hw_monitor, &depth_sensor));
+        }
+
         if (_fw_version >= firmware_version("5.9.15.1"))
         {
             depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,

src/ds5/ds5-options.cpp

@@ -474,4 +474,39 @@ namespace librealsense
         static std::vector<uint8_t> alt_emitter_name(ds::alternating_emitter_pattern.begin()+2,ds::alternating_emitter_pattern.begin()+22);
         return (alt_emitter_name == res);
     }
+
+    emitter_always_on_option::emitter_always_on_option(hw_monitor& hwm, sensor_base* ep)
+        : _hwm(hwm), _sensor(ep)
+    {
+        _range = [this]()
+        {
+            return option_range{ 0, 1, 1, 0 };
+        };
+    }
+
+    void emitter_always_on_option::set(float value)
+    {
+        command cmd(ds::LASERONCONST);
+        cmd.param1 = static_cast<int>(value);
+
+        _hwm.send(cmd);
+        _record_action(*this);
+    }
+
+    float emitter_always_on_option::query() const
+    {
+        command cmd(ds::LASERONCONST);
+        cmd.param1 = 2;
+
+        auto res = _hwm.send(cmd);
+        if (res.empty())
+            throw invalid_value_exception("emitter_always_on_option::query result is empty!");
+
+        return (res.front());
+    }
+
+    option_range emitter_always_on_option::get_range() const
+    {
+        return *_range;
+    }
 }

src/ds5/ds5-options.h

@@ -275,4 +275,26 @@ namespace librealsense
         hw_monitor& _hwm;
         sensor_base* _sensor;
     };
+
+    class emitter_always_on_option : public option
+    {
+    public:
+        emitter_always_on_option(hw_monitor& hwm, sensor_base* depth_ep);
+        virtual ~emitter_always_on_option() = default;
+        virtual void set(float value) override;
+        virtual float query() const override;
+        virtual option_range get_range() const override;
+        virtual bool is_enabled() const override { return true; }
+        virtual const char* get_description() const override
+        {
+            return "Emitter always on mode: 0:disabled(default), 1:enabled.";
+        }
+        virtual void enable_recording(std::function<void(const option &)> record_action) override { _record_action = record_action; }
+
+    private:
+        std::function<void(const option &)> _record_action = [](const option&) {};
+        lazy<option_range> _range;
+        hw_monitor& _hwm;
+        sensor_base* _sensor;
+    };
 }

src/ds5/ds5-private.h

@@ -194,6 +194,7 @@ namespace librealsense
             GETSUBPRESET    = 0x7C,     // Upload the current sub-preset
             GETSUBPRESETNAME= 0x7D,     // Retrieve sub-preset's name
             RECPARAMSGET    = 0x7E,     // Retrieve depth calibration table in new format (fw >= 5.11.12.100)
+            LASERONCONST    = 0x7F,     // Enable Laser On constantly (GS SKU Only)
             AUTO_CALIB      = 0x80      // auto calibration commands
         };
 

src/types.cpp

@@ -290,6 +290,7 @@ namespace librealsense
             CASE(LED_POWER)
             CASE(ZERO_ORDER_ENABLED)
             CASE(ENABLE_MAP_PRESERVATION)
+            CASE(EMITTER_ALWAYS_ON)
         default: assert(!is_valid(value)); return UNKNOWN_VALUE;
         }
 #undef CASE