Fix unpack from sr300 cuda implementation #8896
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ev-mp
approved these changes
May 5, 2021
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@andrusza2 , thank you very much for the contribution!
This resolves the issue with incorrect distances reported with CUDA for SR300.
This was referenced May 14, 2021
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This PR fixes a bug with incorrect depth image on the SR300 series cameras when librealsense is built with CUDA [/issues/8897].
The functions
unpack_z16_y8_from_sr300_inziandunpack_z16_y16_from_sr300_inziuse the source data pointer (in) - the first half of the data is bit-shifted and stored indest[1], the second half is directly copied todest[0]. In the CPU version, the pointer is moved in a loop and after its execution it points toin + count- so the copying works as it should. In the CUDA version, the pointer is never moved, so bad data is copied todest[0], resulting in an incorrect depth image. Simply moving the pointer to the right place fixes the problem.