4 #ifndef LIBREALSENSE_RS2_PROCESSING_HPP 5 #define LIBREALSENSE_RS2_PROCESSING_HPP 33 const frame& original,
42 original.
get(), new_bpp, new_width, new_height, new_stride, frame_type, &e);
48 const frame& original)
const 66 std::vector<rs2_frame*> refs(frames.size(), (
rs2_frame*)
nullptr);
67 for (
size_t i = 0; i < frames.size(); i++)
68 std::swap(refs[i], frames[i].frame_ref);
84 result.frame_ref =
nullptr;
108 on_frame_function(std::move(frm), src);
125 _queue = std::shared_ptr<rs2_frame_queue>(
140 f.frame_ref =
nullptr;
161 typename std::enable_if<std::is_base_of<rs2::frame, T>::value,
bool>::type
poll_for_frame(T* output)
const 167 frame f{ frame_ref };
168 if (res) *output = f;
173 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 179 frame f{ frame_ref };
180 if (res) *output = f;
197 std::shared_ptr<rs2_frame_queue> _queue;
241 std::swap(f.frame_ref, ptr);
266 _block = std::shared_ptr<rs2_processing_block>(
286 return is_supported > 0;
308 std::shared_ptr<rs2_processing_block>
_block;
328 throw std::runtime_error(
"Error occured during execution of the processing block! See the log for more info");
337 filter(std::shared_ptr<rs2_processing_block> block,
int queue_size = 1)
350 filter(S processing_function,
int queue_size = 1) :
375 operator bool()
const {
return _block.get() !=
nullptr; }
416 throw std::runtime_error(
"Error occured during execution of the processing block! See the log for more info");
437 std::shared_ptr<rs2_processing_block> init()
441 auto block = std::shared_ptr<rs2_processing_block>(
470 std::shared_ptr<rs2_processing_block> init()
473 auto block = std::shared_ptr<rs2_processing_block>(
511 std::shared_ptr<rs2_processing_block> init()
514 auto block = std::shared_ptr<rs2_processing_block>(
533 std::shared_ptr<rs2_processing_block> init()
536 auto block = std::shared_ptr<rs2_processing_block>(
552 :_results(queue_size)
554 _sync.
start(_results);
602 _sync.
invoke(std::move(f));
639 std::shared_ptr<rs2_processing_block> init(
rs2_stream align_to)
642 auto block = std::shared_ptr<rs2_processing_block>(
691 std::shared_ptr<rs2_processing_block> init()
694 auto block = std::shared_ptr<rs2_processing_block>(
737 std::shared_ptr<rs2_processing_block> init()
740 auto block = std::shared_ptr<rs2_processing_block>(
798 std::shared_ptr<rs2_processing_block> init()
801 auto block = std::shared_ptr<rs2_processing_block>(
854 std::shared_ptr<rs2_processing_block> init()
857 auto block = std::shared_ptr<rs2_processing_block>(
889 std::shared_ptr<rs2_processing_block> init(
bool transform_to_disparity)
892 auto block = std::shared_ptr<rs2_processing_block>(
927 std::shared_ptr<rs2_processing_block> init()
930 auto block = std::shared_ptr<rs2_processing_block>(
973 std::shared_ptr<rs2_processing_block> init()
976 auto block = std::shared_ptr<rs2_processing_block>(
1000 std::shared_ptr<rs2_processing_block> init()
1003 auto block = std::shared_ptr<rs2_processing_block>(
1012 #endif // LIBREALSENSE_RS2_PROCESSING_HPP decimation_filter()
Definition: rs_processing.hpp:713
rs2_processing_block * rs2_create_decimation_filter_block(rs2_error **error)
Definition: rs_frame.hpp:21
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:551
Definition: rs_frame.hpp:295
threshold_filter(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:508
rs2_processing_block * rs2_create_threshold(rs2_error **error)
bool supports(rs2_option option) const
Definition: rs_options.hpp:19
Definition: rs_processing.hpp:524
std::shared_ptr< rs2_processing_block > _block
Definition: rs_processing.hpp:308
frame_queue(unsigned int capacity)
Definition: rs_processing.hpp:122
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:961
bool supports(rs2_camera_info info) const
Definition: rs_processing.hpp:281
Definition: rs_types.h:163
points calculate(frame depth)
Definition: rs_processing.hpp:402
Definition: rs_processing.hpp:813
Definition: rs_processing.hpp:939
Definition: rs_option.h:57
threshold_filter(filter f)
Definition: rs_processing.hpp:497
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:161
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)
void rs2_start_processing(rs2_processing_block *block, rs2_frame_callback *on_frame, rs2_error **error)
rs2_format format() const
Definition: rs_frame.hpp:43
Definition: rs_types.h:164
Definition: rs_option.h:55
Definition: rs_processing.hpp:453
Definition: rs_frame.hpp:634
int rs2_poll_for_frame(rs2_frame_queue *queue, rs2_frame **output_frame, rs2_error **error)
size_t capacity() const
Definition: rs_processing.hpp:194
void on_frame(rs2_frame *f, rs2_source *source) override
Definition: rs_processing.hpp:104
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:600
void register_simple_option(rs2_option option_id, option_range range)
Definition: rs_processing.hpp:302
pointcloud(rs2_stream stream, int index=0)
Definition: rs_processing.hpp:391
rs2_processing_block * rs2_create_processing_block(rs2_frame_processor_callback *proc, rs2_error **error)
float min
Definition: rs_types.hpp:155
bool poll_for_frames(frameset *fs) const
Definition: rs_processing.hpp:572
Definition: rs_frame.hpp:830
T as() const
Definition: rs_processing.hpp:369
void rs2_delete_frame_queue(rs2_frame_queue *queue)
void map_to(frame mapped)
Definition: rs_processing.hpp:423
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:204
frame_queue _queue
Definition: rs_processing.hpp:377
colorizer(float color_scheme)
Definition: rs_processing.hpp:673
Definition: rs_context.hpp:96
void frame_ready(frame result) const
Definition: rs_processing.hpp:79
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:252
threshold_filter(float min_dist=0.15f, float max_dist=4.f)
Definition: rs_processing.hpp:490
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:32
float max
Definition: rs_types.hpp:156
float step
Definition: rs_types.hpp:158
rs2_processing_block * rs2_create_rates_printer_block(rs2_error **error)
void invoke(frame f) const
Definition: rs_processing.hpp:238
align(rs2_stream align_to)
Definition: rs_processing.hpp:624
Definition: rs_frame.hpp:1045
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:323
Definition: rs_option.h:60
frame_queue()
Definition: rs_processing.hpp:131
yuy_decoder()
Definition: rs_processing.hpp:464
Definition: rs_processing.hpp:17
rs2_processing_block * rs2_create_pointcloud(rs2_error **error)
bool is() const
Definition: rs_processing.hpp:362
hole_filling_filter()
Definition: rs_processing.hpp:946
temporal_filter(float smooth_alpha, float smooth_delta, int persistence_control)
Definition: rs_processing.hpp:779
void rs2_enqueue_frame(rs2_frame *frame, void *queue)
frameset process(frameset frames)
Definition: rs_processing.hpp:632
frame_queue get_queue()
Definition: rs_processing.hpp:358
Definition: rs_types.hpp:32
zero_order_invalidation(filter f)
Definition: rs_processing.hpp:914
processing_block(S processing_function)
Definition: rs_processing.hpp:263
Definition: rs_processing.hpp:752
Definition: rs_types.hpp:153
video_frame colorize(frame depth) const
Definition: rs_processing.hpp:682
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:719
void rs2_synthetic_frame_ready(rs2_source *source, rs2_frame *frame, rs2_error **error)
rs2_processing_block * get() const
Definition: rs_processing.hpp:274
spatial_filter()
Definition: rs_processing.hpp:823
decimation_filter(filter f)
Definition: rs_processing.hpp:724
S & operator>>(S &on_frame)
Definition: rs_processing.hpp:228
pointcloud()
Definition: rs_processing.hpp:389
Definition: rs_options.hpp:11
spatial_filter(filter f)
Definition: rs_processing.hpp:842
void rs2_delete_processing_block(rs2_processing_block *block)
filter(S processing_function, int queue_size=1)
Definition: rs_processing.hpp:350
Definition: rs_processing.hpp:383
rs2_processing_block * rs2_create_temporal_filter_block(rs2_error **error)
void enqueue(frame f) const
Definition: rs_processing.hpp:137
Definition: rs_processing.hpp:482
Definition: rs_option.h:62
void start(S on_frame)
Definition: rs_processing.hpp:215
struct rs2_options rs2_options
Definition: rs_types.h:227
Definition: rs_processing.hpp:904
void operator()(frame f) const
Definition: rs_processing.hpp:186
Definition: rs_option.h:63
int stream_index() const
Definition: rs_frame.hpp:33
syncer(int queue_size=1)
Definition: rs_processing.hpp:551
static void handle(rs2_error *e)
Definition: rs_types.hpp:121
struct rs2_source rs2_source
Definition: rs_types.h:219
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:38
Definition: rs_processing.hpp:314
Definition: rs_types.h:159
bool try_wait_for_frames(frameset *fs, unsigned int timeout_ms=5000) const
Definition: rs_processing.hpp:589
Definition: rs_option.h:69
const rs2_stream_profile * get() const
Definition: rs_frame.hpp:136
Definition: rs_processing.hpp:651
frame wait_for_frame(unsigned int timeout_ms=5000) const
Definition: rs_processing.hpp:147
Definition: rs_types.h:142
zero_order_invalidation()
Definition: rs_processing.hpp:911
void release() override
Definition: rs_processing.hpp:111
yuy_decoder(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:467
filter(std::shared_ptr< rs2_processing_block > block, int queue_size=1)
Definition: rs_processing.hpp:337
frame allocate_points(const stream_profile &profile, const frame &original) const
Definition: rs_processing.hpp:47
Definition: rs_option.h:58
Definition: rs_processing.hpp:612
struct rs2_processing_block rs2_processing_block
Definition: rs_types.h:220
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:530
Definition: rs_frame.hpp:288
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:294
float def
Definition: rs_types.hpp:157
spatial_filter(float smooth_alpha, float smooth_delta, float magnitude, float hole_fill)
Definition: rs_processing.hpp:834
rs2_processing_block * rs2_create_spatial_filter_block(rs2_error **error)
frame_processor_callback(T on_frame)
Definition: rs_processing.hpp:102
rs2_source * _source
Definition: rs_processing.hpp:87
options & operator=(const options &other)
Definition: rs_options.hpp:135
Definition: rs_processing.hpp:545
rs2_processing_block * get() const
Definition: rs_processing.hpp:359
Definition: rs_processing.hpp:114
Definition: rs_processing.hpp:98
frameset wait_for_frames(unsigned int timeout_ms=5000) const
Definition: rs_processing.hpp:562
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:706
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:956
temporal_filter()
Definition: rs_processing.hpp:761
struct rs2_error rs2_error
Definition: rs_types.h:204
rs2_stream stream_type() const
Definition: rs_frame.hpp:38
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:505
rates_printer()
Definition: rs_processing.hpp:995
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:173
colorizer(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:688
colorizer()
Definition: rs_processing.hpp:658
pointcloud(std::shared_ptr< rs2_processing_block > block)
Definition: rs_processing.hpp:432
struct rs2_frame rs2_frame
Definition: rs_types.h:206
Definition: rs_option.h:67
Definition: rs_processing.hpp:988
stream_profile get_profile() const
Definition: rs_frame.hpp:472
frame allocate_composite_frame(std::vector< frame > frames) const
Definition: rs_processing.hpp:62
temporal_filter(filter f)
Definition: rs_processing.hpp:786
Definition: rs_types.h:165