rs2::frame hole_filling_filter::process_frame(const rs2::frame_source& source, const rs2::frame& f)
{
update_configuration(f);
auto tgt = prepare_target_frame(f, source);
// Hole filling pass
if (_extension_type == RS2_EXTENSION_DISPARITY_FRAME)
apply_hole_filling<float>(const_cast<void*>(tgt.get_data()));
else
apply_hole_filling<uint16_t>(const_cast<void*>(tgt.get_data()));
return tgt;
}
rs2::frame disparity_transform::process_frame(const rs2::frame_source& source, const rs2::frame& f)
{
rs2::frame tgt;
update_transformation_profile(f);
if (_stereoscopic_depth && (tgt = prepare_target_frame(f, source)))
{
auto src = f.as<rs2::video_frame>();
if (_transform_to_disparity)
convert<uint16_t, float>(src.get_data(), const_cast<void*>(tgt.get_data()));
else
convert<float, uint16_t>(src.get_data(), const_cast<void*>(tgt.get_data()));
}
return tgt;
}
disparity_transform::disparity_transform(bool transform_to_disparity):
_transform_to_disparity(transform_to_disparity),
_update_target(false),
_stereoscopic_depth(false),
_focal_lenght_mm(0.f),
_stereo_baseline(0.f),
_depth_units(0.f),
_d2d_convert_factor(0.f),
_width(0), _height(0), _bpp(0)
{
auto transform_opt = std::make_shared<ptr_option<bool>>(
false,true,true,true,
&_transform_to_disparity,
"Stereoscopic Transformation Mode");
transform_opt->set_description(false, "Disparity to Depth");
transform_opt->set_description(true, "Depth to Disparity");
transform_opt->on_set([this, transform_opt](float val)
{
std::lock_guard<std::mutex> lock(_mutex);
if (!transform_opt->is_valid(val))
throw invalid_value_exception(to_string() << "Unsupported transformation mode" << (int)val << " is out of range.");
on_set_mode(static_cast<bool>(!!int(val)));
});
unregister_option(RS2_OPTION_FRAMES_QUEUE_SIZE);
auto on_frame = [this](rs2::frame f, const rs2::frame_source& source)
{
std::lock_guard<std::mutex> lock(_mutex);
rs2::frame out = f;
rs2::frame tgt, depth_data;
bool composite = f.is<rs2::frameset>();
tgt = depth_data = (composite) ? f.as<rs2::frameset>().first_or_default(RS2_STREAM_DEPTH) : f;
// Verify that the input depth format is aligned with the block's configuration
if (depth_data && (f.is<rs2::disparity_frame>() != _transform_to_disparity))
{
update_transformation_profile(depth_data);
if (_stereoscopic_depth && (tgt = prepare_target_frame(depth_data, source)))
{
auto src = depth_data.as<rs2::video_frame>();
if (_transform_to_disparity)
convert<uint16_t, float>(src.get_data(), const_cast<void*>(tgt.get_data()));
else
convert<float, uint16_t>(src.get_data(), const_cast<void*>(tgt.get_data()));
}
}
out = composite ? source.allocate_composite_frame({ tgt }) : tgt;
source.frame_ready(out);
};
auto callback = new rs2::frame_processor_callback<decltype(on_frame)>(on_frame);
processing_block::set_processing_callback(std::shared_ptr<rs2_frame_processor_callback>(callback));
on_set_mode(_transform_to_disparity);
}