int color_m_rotate_cmd(lua_State *L)
{
GRLUA_DEBUG_CALL;
TextureColorMap *c = get_texture_map(L);
double angle = luaL_checknumber(L,2);
c->rotate(angle);
return 0;
}
int color_m_bump_cmd(lua_State *L)
{
GRLUA_DEBUG_CALL;
double mag;
TextureColorMap *c = get_texture_map(L);
mag = luaL_checknumber(L,2);
c->set_bump_magnitude(mag);
return 0;
}
int color_m_scale_cmd(lua_State *L)
{
GRLUA_DEBUG_CALL;
double x, y;
TextureColorMap *c = get_texture_map(L);
x = luaL_checknumber(L,2);
y = luaL_checknumber(L,3);
c->scale(x,y);
return 0;
}
rs2::frame pointcloud::process_depth_frame(const rs2::frame_source& source, const rs2::depth_frame& depth)
{
auto res = allocate_points(source, depth);
auto pframe = (librealsense::points*)(res.get());
auto depth_data = (const uint16_t*)depth.get_data();
float2* tex_ptr = pframe->get_texture_coordinates();
const float3* points;
points = depth_to_points(res, (uint8_t*)pframe->get_vertices(), *_depth_intrinsics, depth_data, *_depth_units);
auto vid_frame = depth.as<rs2::video_frame>();
// Pixels calculated in the mapped texture. Used in post-processing filters
float2* pixels_ptr = _pixels_map.data();
rs2_intrinsics mapped_intr;
rs2_extrinsics extr;
bool map_texture = false;
{
if (_extrinsics && _other_intrinsics)
{
mapped_intr = *_other_intrinsics;
extr = *_extrinsics;
map_texture = true;
}
}
if (map_texture)
{
auto height = vid_frame.get_height();
auto width = vid_frame.get_width();
get_texture_map(res, points, width, height, mapped_intr, extr, tex_ptr, pixels_ptr);
if (_occlusion_filter->active())
{
_occlusion_filter->process(pframe->get_vertices(), pframe->get_texture_coordinates(), _pixels_map);
}
}
return res;
}
