Program Listing for File rs_processing.hpp
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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#ifndef LIBREALSENSE_RS2_PROCESSING_HPP
#define LIBREALSENSE_RS2_PROCESSING_HPP
#include "rs_types.hpp"
#include "rs_frame.hpp"
#include "rs_options.hpp"
namespace rs2
{
class frame_source
{
public:
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
{
rs2_error* e = nullptr;
auto result = rs2_allocate_synthetic_video_frame(_source, profile.get(),
original.get(), new_bpp, new_width, new_height, new_stride, frame_type, &e);
error::handle(e);
return result;
}
frame allocate_motion_frame(const stream_profile& profile,
const frame& original,
rs2_extension frame_type = RS2_EXTENSION_MOTION_FRAME) const
{
rs2_error* e = nullptr;
auto result = rs2_allocate_synthetic_motion_frame(_source, profile.get(),
original.get(), frame_type, &e);
error::handle(e);
return result;
}
frame allocate_points(const stream_profile& profile,
const frame& original) const
{
rs2_error* e = nullptr;
auto result = rs2_allocate_points(_source, profile.get(), original.get(), &e);
error::handle(e);
return result;
}
frame allocate_composite_frame(std::vector<frame> frames) const
{
rs2_error* e = nullptr;
std::vector<rs2_frame*> refs(frames.size(), (rs2_frame*)nullptr);
for (size_t i = 0; i < frames.size(); i++)
std::swap(refs[i], frames[i].frame_ref);
auto result = rs2_allocate_composite_frame(_source, refs.data(), (int)refs.size(), &e);
error::handle(e);
return result;
}
void frame_ready(frame result) const
{
rs2_error* e = nullptr;
rs2_synthetic_frame_ready(_source, result.get(), &e);
error::handle(e);
result.frame_ref = nullptr;
}
rs2_source* _source;
private:
template<class T>
friend class frame_processor_callback;
frame_source(rs2_source* source) : _source(source) {}
frame_source(const frame_source&) = delete;
};
template<class T>
class frame_processor_callback : public rs2_frame_processor_callback
{
T on_frame_function;
public:
explicit frame_processor_callback(T on_frame) : on_frame_function(on_frame) {}
void on_frame(rs2_frame* f, rs2_source * source) override
{
frame_source src(source);
frame frm(f);
on_frame_function(std::move(frm), src);
}
void release() override { delete this; }
};
class frame_queue
{
public:
explicit frame_queue(unsigned int capacity, bool keep_frames = false) : _capacity(capacity), _keep(keep_frames)
{
rs2_error* e = nullptr;
_queue = std::shared_ptr<rs2_frame_queue>(
rs2_create_frame_queue(capacity, &e),
rs2_delete_frame_queue);
error::handle(e);
}
frame_queue() : frame_queue(1) {}
void enqueue(frame f) const
{
if (_keep) f.keep();
rs2_enqueue_frame(f.frame_ref, _queue.get()); // noexcept
f.frame_ref = nullptr; // frame has been essentially moved from
}
frame wait_for_frame(unsigned int timeout_ms = 5000) const
{
rs2_error* e = nullptr;
auto frame_ref = rs2_wait_for_frame(_queue.get(), timeout_ms, &e);
error::handle(e);
return{ frame_ref };
}
template<typename T>
typename std::enable_if<std::is_base_of<rs2::frame, T>::value, bool>::type poll_for_frame(T* output) const
{
rs2_error* e = nullptr;
rs2_frame* frame_ref = nullptr;
auto res = rs2_poll_for_frame(_queue.get(), &frame_ref, &e);
error::handle(e);
frame f{ frame_ref };
if (res) *output = f;
return res > 0;
}
template<typename T>
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
{
rs2_error* e = nullptr;
rs2_frame* frame_ref = nullptr;
auto res = rs2_try_wait_for_frame(_queue.get(), timeout_ms, &frame_ref, &e);
error::handle(e);
frame f{ frame_ref };
if (res) *output = f;
return res > 0;
}
void operator()(frame f) const
{
enqueue(std::move(f));
}
size_t size() const
{
rs2_error* e = nullptr;
auto res = rs2_frame_queue_size(_queue.get(), &e);
error::handle(e);
return static_cast<size_t>(res);
}
size_t capacity() const { return _capacity; }
bool keep_frames() const { return _keep; }
std::shared_ptr<rs2_frame_queue> get() { return _queue; }
private:
std::shared_ptr<rs2_frame_queue> _queue;
size_t _capacity;
bool _keep;
};
class processing_block : public options
{
public:
using options::supports;
template<class S>
void start(S on_frame)
{
rs2_error* e = nullptr;
rs2_start_processing(get(), new frame_callback<S>(on_frame), &e);
error::handle(e);
}
template<class S>
S& operator>>(S& on_frame)
{
start(on_frame);
return on_frame;
}
void invoke(frame f) const
{
rs2_frame* ptr = nullptr;
std::swap(f.frame_ref, ptr);
rs2_error* e = nullptr;
rs2_process_frame(get(), ptr, &e);
error::handle(e);
}
processing_block(std::shared_ptr<rs2_processing_block> block)
: options((rs2_options*)block.get()), _block(block)
{
}
template<class S>
processing_block(S processing_function)
{
rs2_error* e = nullptr;
_block = std::shared_ptr<rs2_processing_block>(
rs2_create_processing_block(new frame_processor_callback<S>(processing_function), &e),
rs2_delete_processing_block);
options::operator=(_block);
error::handle(e);
}
operator rs2_options*() const { return (rs2_options*)get(); }
rs2_processing_block* get() const { return _block.get(); }
bool supports(rs2_camera_info info) const
{
rs2_error* e = nullptr;
auto is_supported = rs2_supports_processing_block_info(_block.get(), info, &e);
error::handle(e);
return is_supported > 0;
}
const char* get_info(rs2_camera_info info) const
{
rs2_error* e = nullptr;
auto result = rs2_get_processing_block_info(_block.get(), info, &e);
error::handle(e);
return result;
}
protected:
void register_simple_option(rs2_option option_id, option_range range) {
rs2_error * e = nullptr;
rs2_processing_block_register_simple_option(_block.get(), option_id,
range.min, range.max, range.step, range.def, &e);
error::handle(e);
}
std::shared_ptr<rs2_processing_block> _block;
};
class filter : public processing_block, public filter_interface
{
public:
rs2::frame process(rs2::frame frame) const override
{
invoke(frame);
rs2::frame f;
if (!_queue.poll_for_frame(&f))
throw std::runtime_error("Error occured during execution of the processing block! See the log for more info");
return f;
}
filter(std::shared_ptr<rs2_processing_block> block, int queue_size = 1)
: processing_block(block),
_queue(queue_size)
{
start(_queue);
}
template<class S>
filter(S processing_function, int queue_size = 1) :
processing_block(processing_function),
_queue(queue_size)
{
start(_queue);
}
frame_queue get_queue() { return _queue; }
rs2_processing_block* get() const { return _block.get(); }
template<class T>
bool is() const
{
T extension(*this);
return extension;
}
template<class T>
T as() const
{
T extension(*this);
return extension;
}
operator bool() const { return _block.get() != nullptr; }
protected:
frame_queue _queue;
};
class pointcloud : public filter
{
public:
pointcloud() : filter(init(), 1) {}
pointcloud(rs2_stream stream, int index = 0) : filter(init(), 1)
{
set_option(RS2_OPTION_STREAM_FILTER, float(stream));
set_option(RS2_OPTION_STREAM_INDEX_FILTER, float(index));
}
points calculate(frame depth) const
{
auto res = process(depth);
if (res.as<points>())
return res;
if (auto set = res.as <frameset>())
{
for (auto f : set)
{
if(f.as<points>())
return f;
}
}
throw std::runtime_error("Error occured during execution of the processing block! See the log for more info");
}
void map_to(frame mapped)
{
set_option(RS2_OPTION_STREAM_FILTER, float(mapped.get_profile().stream_type()));
set_option(RS2_OPTION_STREAM_FORMAT_FILTER, float(mapped.get_profile().format()));
set_option(RS2_OPTION_STREAM_INDEX_FILTER, float(mapped.get_profile().stream_index()));
process(mapped);
}
protected:
pointcloud(std::shared_ptr<rs2_processing_block> block) : filter(block, 1) {}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_pointcloud(&e),
rs2_delete_processing_block);
error::handle(e);
// Redirect options API to the processing block
//options::operator=(pb);
return block;
}
};
class yuy_decoder : public filter
{
public:
yuy_decoder() : filter(init(), 1) { }
protected:
yuy_decoder(std::shared_ptr<rs2_processing_block> block) : filter(block, 1) {}
private:
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_yuy_decoder(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class y411_decoder : public filter
{
public:
y411_decoder() : filter(init()) { }
protected:
y411_decoder(std::shared_ptr<rs2_processing_block> block) : filter(block) {}
private:
static std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_y411_decoder(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class threshold_filter : public filter
{
public:
threshold_filter(float min_dist = 0.15f, float max_dist = 4.f)
: filter(init(), 1)
{
set_option(RS2_OPTION_MIN_DISTANCE, min_dist);
set_option(RS2_OPTION_MAX_DISTANCE, max_dist);
}
threshold_filter(filter f) : filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_THRESHOLD_FILTER, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
protected:
threshold_filter(std::shared_ptr<rs2_processing_block> block) : filter(block, 1) {}
private:
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_threshold(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class units_transform : public filter
{
public:
units_transform() : filter(init(), 1) {}
protected:
units_transform(std::shared_ptr<rs2_processing_block> block) : filter(block, 1) {}
private:
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_units_transform(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class asynchronous_syncer : public processing_block
{
public:
asynchronous_syncer() : processing_block(init()) {}
private:
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_sync_processing_block(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class syncer
{
public:
syncer(int queue_size = 1)
:_results(queue_size)
{
_sync.start(_results);
}
frameset wait_for_frames(unsigned int timeout_ms = 5000) const
{
return frameset(_results.wait_for_frame(timeout_ms));
}
bool poll_for_frames(frameset* fs) const
{
frame result;
if (_results.poll_for_frame(&result))
{
*fs = frameset(result);
return true;
}
return false;
}
bool try_wait_for_frames(frameset* fs, unsigned int timeout_ms = 5000) const
{
frame result;
if (_results.try_wait_for_frame(&result, timeout_ms))
{
*fs = frameset(result);
return true;
}
return false;
}
void operator()(frame f) const
{
_sync.invoke(std::move(f));
}
private:
asynchronous_syncer _sync;
frame_queue _results;
};
class align : public filter
{
public:
align(rs2_stream align_to) : filter(init(align_to), 1) {}
using filter::process;
frameset process(frameset frames)
{
return filter::process(frames);
}
protected:
align(std::shared_ptr<rs2_processing_block> block) : filter(block, 1) {}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init(rs2_stream align_to)
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_align(align_to, &e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class colorizer : public filter
{
public:
colorizer() : filter(init(), 1) { }
colorizer(float color_scheme) : filter(init(), 1)
{
set_option(RS2_OPTION_COLOR_SCHEME, float(color_scheme));
}
video_frame colorize(frame depth) const
{
return process(depth);
}
protected:
colorizer(std::shared_ptr<rs2_processing_block> block) : filter(block, 1) {}
private:
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_colorizer(&e),
rs2_delete_processing_block);
error::handle(e);
// Redirect options API to the processing block
//options::operator=(pb);
return block;
}
};
class decimation_filter : public filter
{
public:
decimation_filter() : filter(init(), 1) {}
decimation_filter(float magnitude) : filter(init(), 1)
{
set_option(RS2_OPTION_FILTER_MAGNITUDE, magnitude);
}
decimation_filter(filter f) : filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_DECIMATION_FILTER, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_decimation_filter_block(&e),
rs2_delete_processing_block);
error::handle(e);
// Redirect options API to the processing block
//options::operator=(this);
return block;
}
};
class temporal_filter : public filter
{
public:
temporal_filter() : filter(init(), 1) {}
temporal_filter(float smooth_alpha, float smooth_delta, int persistence_control) : filter(init(), 1)
{
set_option(RS2_OPTION_HOLES_FILL, float(persistence_control));
set_option(RS2_OPTION_FILTER_SMOOTH_ALPHA, float(smooth_alpha));
set_option(RS2_OPTION_FILTER_SMOOTH_DELTA, float(smooth_delta));
}
temporal_filter(filter f) :filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_TEMPORAL_FILTER, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_temporal_filter_block(&e),
rs2_delete_processing_block);
error::handle(e);
// Redirect options API to the processing block
//options::operator=(pb);
return block;
}
};
class spatial_filter : public filter
{
public:
spatial_filter() : filter(init(), 1) { }
spatial_filter(float smooth_alpha, float smooth_delta, float magnitude, float hole_fill) : filter(init(), 1)
{
set_option(RS2_OPTION_FILTER_SMOOTH_ALPHA, float(smooth_alpha));
set_option(RS2_OPTION_FILTER_SMOOTH_DELTA, float(smooth_delta));
set_option(RS2_OPTION_FILTER_MAGNITUDE, magnitude);
set_option(RS2_OPTION_HOLES_FILL, hole_fill);
}
spatial_filter(filter f) :filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_SPATIAL_FILTER, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_spatial_filter_block(&e),
rs2_delete_processing_block);
error::handle(e);
// Redirect options API to the processing block
//options::operator=(pb);
return block;
}
};
class disparity_transform : public filter
{
public:
disparity_transform(bool transform_to_disparity = true) : filter(init(transform_to_disparity), 1) { }
disparity_transform(filter f) :filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_DISPARITY_FILTER, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init(bool transform_to_disparity)
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_disparity_transform_block(uint8_t(transform_to_disparity), &e),
rs2_delete_processing_block);
error::handle(e);
// Redirect options API to the processing block
//options::operator=(pb);
return block;
}
};
class zero_order_invalidation : public filter
{
public:
zero_order_invalidation() : filter(init())
{}
zero_order_invalidation(filter f) :filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_ZERO_ORDER_FILTER, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_zero_order_invalidation_block(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class depth_huffman_decoder : public filter
{
public:
depth_huffman_decoder() : filter(init())
{}
depth_huffman_decoder(filter f) :filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_DEPTH_HUFFMAN_DECODER, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_huffman_depth_decompress_block(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class hole_filling_filter : public filter
{
public:
hole_filling_filter() : filter(init(), 1) {}
hole_filling_filter(int mode) : filter(init(), 1)
{
set_option(RS2_OPTION_HOLES_FILL, float(mode));
}
hole_filling_filter(filter f) :filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_HOLE_FILLING_FILTER, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_hole_filling_filter_block(&e),
rs2_delete_processing_block);
error::handle(e);
// Redirect options API to the processing block
//options::operator=(_block);
return block;
}
};
class rates_printer : public filter
{
public:
rates_printer() : filter(init(), 1) {}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_rates_printer_block(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class hdr_merge : public filter
{
public:
hdr_merge() : filter(init()) {}
hdr_merge(filter f) :filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_HDR_MERGE, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_hdr_merge_processing_block(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
class sequence_id_filter : public filter
{
public:
sequence_id_filter() : filter(init()) {}
sequence_id_filter(float sequence_id) : filter(init(), 1)
{
set_option(RS2_OPTION_SEQUENCE_ID, sequence_id);
}
sequence_id_filter(filter f) :filter(f)
{
rs2_error* e = nullptr;
if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_SEQUENCE_ID_FILTER, &e) && !e)
{
_block.reset();
}
error::handle(e);
}
private:
friend class context;
std::shared_ptr<rs2_processing_block> init()
{
rs2_error* e = nullptr;
auto block = std::shared_ptr<rs2_processing_block>(
rs2_create_sequence_id_filter(&e),
rs2_delete_processing_block);
error::handle(e);
return block;
}
};
}
#endif // LIBREALSENSE_RS2_PROCESSING_HPP