4 #ifndef LIBREALSENSE_RS2_PROCESSING_HPP 5 #define LIBREALSENSE_RS2_PROCESSING_HPP 34 const frame& original,
43 original.
get(), new_bpp, new_width, new_height, new_stride, frame_type, &e);
49 const frame& original)
const 67 std::vector<rs2_frame*> refs(frames.size(), (
rs2_frame*)
nullptr);
68 for (
size_t i = 0; i < frames.size(); i++)
69 std::swap(refs[i], frames[i].frame_ref);
85 result.frame_ref =
nullptr;
109 on_frame_function(std::move(frm), src);
127 _queue = std::shared_ptr<rs2_frame_queue>(
143 f.frame_ref =
nullptr;
164 typename std::enable_if<std::is_base_of<rs2::frame, T>::value,
bool>::type
poll_for_frame(T* output)
const 170 frame f{ frame_ref };
171 if (res) *output = f;
176 typename std::enable_if<std::is_base_of<rs2::frame, T>::value,
bool>::type
try_wait_for_frame(T* output,
unsigned int timeout_ms = 5000)
const 182 frame f{ frame_ref };
183 if (res) *output = f;
206 std::shared_ptr<rs2_frame_queue> _queue;
251 std::swap(f.frame_ref, ptr);
276 _block = std::shared_ptr<rs2_processing_block>(
296 return is_supported > 0;
318 std::shared_ptr<rs2_processing_block>
_block;
338 throw std::runtime_error(
"Error occured during execution of the processing block! See the log for more info");
347 filter(std::shared_ptr<rs2_processing_block> block,
int queue_size = 1)
360 filter(S processing_function,
int queue_size = 1) :
385 operator bool()
const {
return _block.get() !=
nullptr; }
426 throw std::runtime_error(
"Error occured during execution of the processing block! See the log for more info");
447 std::shared_ptr<rs2_processing_block> init()
451 auto block = std::shared_ptr<rs2_processing_block>(
480 std::shared_ptr<rs2_processing_block> init()
483 auto block = std::shared_ptr<rs2_processing_block>(
521 std::shared_ptr<rs2_processing_block> init()
524 auto block = std::shared_ptr<rs2_processing_block>(
545 std::shared_ptr<rs2_processing_block> init()
548 auto block = std::shared_ptr<rs2_processing_block>(
566 std::shared_ptr<rs2_processing_block> init()
569 auto block = std::shared_ptr<rs2_processing_block>(
585 :_results(queue_size)
587 _sync.
start(_results);
635 _sync.
invoke(std::move(f));
671 align(std::shared_ptr<rs2_processing_block> block) :
filter(block, 1) {}
675 std::shared_ptr<rs2_processing_block> init(
rs2_stream align_to)
678 auto block = std::shared_ptr<rs2_processing_block>(
728 std::shared_ptr<rs2_processing_block> init()
731 auto block = std::shared_ptr<rs2_processing_block>(
774 std::shared_ptr<rs2_processing_block> init()
777 auto block = std::shared_ptr<rs2_processing_block>(
835 std::shared_ptr<rs2_processing_block> init()
838 auto block = std::shared_ptr<rs2_processing_block>(
891 std::shared_ptr<rs2_processing_block> init()
894 auto block = std::shared_ptr<rs2_processing_block>(
926 std::shared_ptr<rs2_processing_block> init(
bool transform_to_disparity)
929 auto block = std::shared_ptr<rs2_processing_block>(
964 std::shared_ptr<rs2_processing_block> init()
967 auto block = std::shared_ptr<rs2_processing_block>(
1010 std::shared_ptr<rs2_processing_block> init()
1013 auto block = std::shared_ptr<rs2_processing_block>(
1037 std::shared_ptr<rs2_processing_block> init()
1040 auto block = std::shared_ptr<rs2_processing_block>(
1049 #endif // LIBREALSENSE_RS2_PROCESSING_HPP decimation_filter()
Definition: rs_processing.hpp:750
rs2_processing_block * rs2_create_decimation_filter_block(rs2_error **error)
Definition: rs_frame.hpp:22
rs2_camera_info
Read-only strings that can be queried from the device. Not all information attributes are available o...
Definition: rs_sensor.h:22
Definition: rs_frame.hpp:629
Definition: rs_frame.hpp:336
threshold_filter(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:518
rs2_processing_block * rs2_create_threshold(rs2_error **error)
bool supports(rs2_option option) const
Definition: rs_options.hpp:19
Definition: rs_processing.hpp:557
std::shared_ptr< rs2_processing_block > _block
Definition: rs_processing.hpp:318
rs2_frame * rs2_allocate_composite_frame(rs2_source *source, rs2_frame **frames, int count, rs2_error **error)
hole_filling_filter(filter f)
Definition: rs_processing.hpp:998
bool supports(rs2_camera_info info) const
Definition: rs_processing.hpp:291
Definition: rs_types.h:163
points calculate(frame depth)
Definition: rs_processing.hpp:412
Definition: rs_processing.hpp:850
Definition: rs_processing.hpp:976
Definition: rs_option.h:57
threshold_filter(filter f)
Definition: rs_processing.hpp:507
rs2_option
Defines general configuration controls. These can generally be mapped to camera UVC controls,...
Definition: rs_option.h:22
Definition: rs_types.h:161
std::enable_if< std::is_base_of< rs2::frame, T >::value, bool >::type poll_for_frame(T *output) const
Definition: rs_processing.hpp:164
rs2_processing_block * rs2_create_zero_order_invalidation_block(rs2_error **error)
Definition: rs_types.h:162
rs2_frame * rs2_allocate_points(rs2_source *source, const rs2_stream_profile *new_stream, rs2_frame *original, rs2_error **error)
rs2_processing_block * rs2_create_units_transform(rs2_error **error)
bool keep_frames() const
Definition: rs_processing.hpp:203
void rs2_start_processing(rs2_processing_block *block, rs2_frame_callback *on_frame, rs2_error **error)
rs2_format format() const
Definition: rs_frame.hpp:44
Definition: rs_types.h:164
Definition: rs_option.h:55
Definition: rs_processing.hpp:463
Definition: rs_frame.hpp:712
int rs2_poll_for_frame(rs2_frame_queue *queue, rs2_frame **output_frame, rs2_error **error)
size_t capacity() const
Definition: rs_processing.hpp:197
align(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:671
void on_frame(rs2_frame *f, rs2_source *source) override
Definition: rs_processing.hpp:105
rs2_processing_block * rs2_create_hole_filling_filter_block(rs2_error **error)
rs2_processing_block * rs2_create_sync_processing_block(rs2_error **error)
void operator()(frame f) const
Definition: rs_processing.hpp:633
void register_simple_option(rs2_option option_id, option_range range)
Definition: rs_processing.hpp:312
pointcloud(rs2_stream stream, int index=0)
Definition: rs_processing.hpp:401
rs2_processing_block * rs2_create_processing_block(rs2_frame_processor_callback *proc, rs2_error **error)
float min
Definition: rs_types.hpp:162
bool poll_for_frames(frameset *fs) const
Definition: rs_processing.hpp:605
Definition: rs_frame.hpp:908
T as() const
Definition: rs_processing.hpp:379
void rs2_delete_frame_queue(rs2_frame_queue *queue)
void map_to(frame mapped)
Definition: rs_processing.hpp:433
Definition: rs_context.hpp:11
rs2_frame_queue * rs2_create_frame_queue(int capacity, rs2_error **error)
rs2_frame * rs2_wait_for_frame(rs2_frame_queue *queue, unsigned int timeout_ms, rs2_error **error)
void rs2_process_frame(rs2_processing_block *block, rs2_frame *frame, rs2_error **error)
Definition: rs_processing.hpp:214
frame_queue _queue
Definition: rs_processing.hpp:387
colorizer(float color_scheme)
Definition: rs_processing.hpp:710
Definition: rs_context.hpp:96
void frame_ready(frame result) const
Definition: rs_processing.hpp:80
int rs2_processing_block_register_simple_option(rs2_processing_block *block, rs2_option option_id, float min, float max, float step, float def, rs2_error **error)
processing_block(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:262
threshold_filter(float min_dist=0.15f, float max_dist=4.f)
Definition: rs_processing.hpp:500
frame allocate_video_frame(const stream_profile &profile, const frame &original, int new_bpp=0, int new_width=0, int new_height=0, int new_stride=0, rs2_extension frame_type=RS2_EXTENSION_VIDEO_FRAME) const
Definition: rs_processing.hpp:33
float max
Definition: rs_types.hpp:163
float step
Definition: rs_types.hpp:165
rs2_processing_block * rs2_create_rates_printer_block(rs2_error **error)
void invoke(frame f) const
Definition: rs_processing.hpp:248
align(rs2_stream align_to)
Definition: rs_processing.hpp:657
Definition: rs_frame.hpp:1123
rs2_frame * rs2_allocate_synthetic_video_frame(rs2_source *source, const rs2_stream_profile *new_stream, rs2_frame *original, int new_bpp, int new_width, int new_height, int new_stride, rs2_extension frame_type, rs2_error **error)
rs2_processing_block * rs2_create_align(rs2_stream align_to, rs2_error **error)
rs2::frame process(rs2::frame frame) const override
Definition: rs_processing.hpp:333
Definition: rs_option.h:60
frame_queue()
Definition: rs_processing.hpp:133
yuy_decoder()
Definition: rs_processing.hpp:474
Definition: rs_processing.hpp:18
rs2_processing_block * rs2_create_pointcloud(rs2_error **error)
bool is() const
Definition: rs_processing.hpp:372
hole_filling_filter()
Definition: rs_processing.hpp:983
temporal_filter(float smooth_alpha, float smooth_delta, int persistence_control)
Definition: rs_processing.hpp:816
void rs2_enqueue_frame(rs2_frame *frame, void *queue)
frameset process(frameset frames)
Definition: rs_processing.hpp:665
frame_queue get_queue()
Definition: rs_processing.hpp:368
Definition: rs_types.hpp:32
zero_order_invalidation(filter f)
Definition: rs_processing.hpp:951
processing_block(S processing_function)
Definition: rs_processing.hpp:273
Definition: rs_processing.hpp:789
Definition: rs_types.hpp:160
video_frame colorize(frame depth) const
Definition: rs_processing.hpp:719
int rs2_supports_processing_block_info(const rs2_processing_block *block, rs2_camera_info info, rs2_error **error)
decimation_filter(float magnitude)
Definition: rs_processing.hpp:756
void rs2_synthetic_frame_ready(rs2_source *source, rs2_frame *frame, rs2_error **error)
rs2_processing_block * get() const
Definition: rs_processing.hpp:284
spatial_filter()
Definition: rs_processing.hpp:860
decimation_filter(filter f)
Definition: rs_processing.hpp:761
S & operator>>(S &on_frame)
Definition: rs_processing.hpp:238
pointcloud()
Definition: rs_processing.hpp:399
Definition: rs_options.hpp:11
spatial_filter(filter f)
Definition: rs_processing.hpp:879
void rs2_delete_processing_block(rs2_processing_block *block)
filter(S processing_function, int queue_size=1)
Definition: rs_processing.hpp:360
Definition: rs_processing.hpp:393
rs2_processing_block * rs2_create_temporal_filter_block(rs2_error **error)
void enqueue(frame f) const
Definition: rs_processing.hpp:139
Definition: rs_processing.hpp:492
Definition: rs_option.h:62
void keep()
Definition: rs_frame.hpp:430
void start(S on_frame)
Definition: rs_processing.hpp:225
struct rs2_options rs2_options
Definition: rs_types.h:233
Definition: rs_processing.hpp:941
void operator()(frame f) const
Definition: rs_processing.hpp:189
Definition: rs_option.h:63
int stream_index() const
Definition: rs_frame.hpp:34
syncer(int queue_size=1)
Definition: rs_processing.hpp:584
static void handle(rs2_error *e)
Definition: rs_types.hpp:128
struct rs2_source rs2_source
Definition: rs_types.h:224
rs2_processing_block * rs2_create_disparity_transform_block(unsigned char transform_to_disparity, rs2_error **error)
rs2_processing_block * rs2_create_colorizer(rs2_error **error)
rs2_stream
Streams are different types of data provided by RealSense devices.
Definition: rs_sensor.h:40
Definition: rs_processing.hpp:324
Definition: rs_types.h:159
bool try_wait_for_frames(frameset *fs, unsigned int timeout_ms=5000) const
Definition: rs_processing.hpp:622
Definition: rs_option.h:69
const rs2_stream_profile * get() const
Definition: rs_frame.hpp:137
Definition: rs_processing.hpp:687
frame wait_for_frame(unsigned int timeout_ms=5000) const
Definition: rs_processing.hpp:150
Definition: rs_types.h:142
zero_order_invalidation()
Definition: rs_processing.hpp:948
void release() override
Definition: rs_processing.hpp:112
yuy_decoder(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:477
filter(std::shared_ptr< rs2_processing_block > block, int queue_size=1)
Definition: rs_processing.hpp:347
frame allocate_points(const stream_profile &profile, const frame &original) const
Definition: rs_processing.hpp:48
Definition: rs_option.h:58
Definition: rs_processing.hpp:645
struct rs2_processing_block rs2_processing_block
Definition: rs_types.h:225
rs2_processing_block * rs2_create_yuy_decoder(rs2_error **error)
rs2_extension
Specifies advanced interfaces (capabilities) objects may implement.
Definition: rs_types.h:132
asynchronous_syncer()
Definition: rs_processing.hpp:563
Definition: rs_frame.hpp:329
void set_option(rs2_option option, float value) const
Definition: rs_options.hpp:99
const char * get_info(rs2_camera_info info) const
Definition: rs_processing.hpp:304
float def
Definition: rs_types.hpp:164
spatial_filter(float smooth_alpha, float smooth_delta, float magnitude, float hole_fill)
Definition: rs_processing.hpp:871
rs2_processing_block * rs2_create_spatial_filter_block(rs2_error **error)
frame_processor_callback(T on_frame)
Definition: rs_processing.hpp:103
rs2_source * _source
Definition: rs_processing.hpp:88
options & operator=(const options &other)
Definition: rs_options.hpp:135
Definition: rs_processing.hpp:578
frame_queue(unsigned int capacity, bool keep_frames=false)
Definition: rs_processing.hpp:124
rs2_processing_block * get() const
Definition: rs_processing.hpp:369
Definition: rs_processing.hpp:115
Definition: rs_processing.hpp:99
frameset wait_for_frames(unsigned int timeout_ms=5000) const
Definition: rs_processing.hpp:595
Definition: rs_option.h:68
int rs2_try_wait_for_frame(rs2_frame_queue *queue, unsigned int timeout_ms, rs2_frame **output_frame, rs2_error **error)
Definition: rs_types.h:160
Definition: rs_processing.hpp:743
int rs2_is_processing_block_extendable_to(const rs2_processing_block *block, rs2_extension extension_type, rs2_error **error)
hole_filling_filter(int mode)
Definition: rs_processing.hpp:993
temporal_filter()
Definition: rs_processing.hpp:798
struct rs2_error rs2_error
Definition: rs_types.h:209
rs2_stream stream_type() const
Definition: rs_frame.hpp:39
const char * rs2_get_processing_block_info(const rs2_processing_block *block, rs2_camera_info info, rs2_error **error)
Definition: rs_option.h:61
rs2_frame * get() const
Definition: rs_frame.hpp:583
rates_printer()
Definition: rs_processing.hpp:1032
std::enable_if< std::is_base_of< rs2::frame, T >::value, bool >::type try_wait_for_frame(T *output, unsigned int timeout_ms=5000) const
Definition: rs_processing.hpp:176
colorizer(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:725
colorizer()
Definition: rs_processing.hpp:694
pointcloud(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:442
struct rs2_frame rs2_frame
Definition: rs_types.h:211
Definition: rs_option.h:67
Definition: rs_processing.hpp:1025
stream_profile get_profile() const
Definition: rs_frame.hpp:550
frame allocate_composite_frame(std::vector< frame > frames) const
Definition: rs_processing.hpp:63
temporal_filter(filter f)
Definition: rs_processing.hpp:823
Definition: rs_types.h:165