align.h

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.

#pragma once

#include <map>
#include <utility>
#include "core/processing.h"
#include "proc/synthetic-stream.h"
#include "image.h"
#include "source.h"

namespace librealsense
{
    class LRS_EXTENSION_API align : public generic_processing_block
    {
    public:
        align(rs2_stream to_stream);

    protected:
        align(rs2_stream to_stream, const char* name)
            : generic_processing_block(name), 
              _to_stream_type(to_stream), _depth_scale(0)
        {}

        bool should_process(const rs2::frame& frame) override;
        rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override;

        virtual void reset_cache(rs2_stream from, rs2_stream to) {}

        virtual void align_z_to_other(rs2::video_frame& aligned, 
                                      const rs2::video_frame& depth, 
                                      const rs2::video_stream_profile& other_profile, 
                                      float z_scale);

        virtual void align_other_to_z(rs2::video_frame& aligned, 
                                      const rs2::video_frame& depth, 
                                      const rs2::video_frame& other, 
                                      float z_scale);

        virtual rs2_extension select_extension(const rs2::frame& input);

        std::shared_ptr<rs2::video_stream_profile> create_aligned_profile(
            rs2::video_stream_profile& original_profile,
            rs2::video_stream_profile& to_profile);

        rs2_stream _to_stream_type;
        std::map<std::pair<stream_profile_interface*, stream_profile_interface*>, std::shared_ptr<rs2::video_stream_profile>> _align_stream_unique_ids;
        rs2::stream_profile _source_stream_profile;
        float _depth_scale;

    private:
        rs2::video_frame allocate_aligned_frame(const rs2::frame_source& source, const rs2::video_frame& from, const rs2::video_frame& to);
        void align_frames(rs2::video_frame& aligned, const rs2::video_frame& from, const rs2::video_frame& to);
    };
}