rs2::frame yuy2rgb::process_frame(const rs2::frame_source& source, const rs2::frame& f)
{
auto p = f.get_profile();
if (p.get() != _source_stream_profile.get())
{
_source_stream_profile = p;
_target_stream_profile = p.clone(p.stream_type(), p.stream_index(), RS2_FORMAT_RGB8);
}
rs2::frame ret;
auto vf = f.as<rs2::video_frame>();
ret = source.allocate_video_frame(_target_stream_profile, f, _traget_bpp,
vf.get_width(), vf.get_height(), vf.get_width() * _traget_bpp, RS2_EXTENSION_VIDEO_FRAME);
byte* planes[1];
planes[0] = (byte*)ret.get_data();
unpack_yuy2_rgb8(planes, (const byte*)f.get_data(), vf.get_width(), vf.get_height());
return ret;
}
bool align::should_process(const rs2::frame& frame)
{
if (!frame)
return false;
auto set = frame.as<rs2::frameset>();
if (!set)
return false;
auto profile = frame.get_profile();
rs2_stream stream = profile.stream_type();
rs2_format format = profile.format();
int index = profile.stream_index();
//process composite frame only if it contains both a depth frame and the requested texture frame
bool has_tex = false, has_depth = false;
set.foreach([this, &has_tex](const rs2::frame& frame) { if (frame.get_profile().stream_type() == _to_stream_type) has_tex = true; });
set.foreach([&has_depth](const rs2::frame& frame)
{ if (frame.get_profile().stream_type() == RS2_STREAM_DEPTH && frame.get_profile().format() == RS2_FORMAT_Z16) has_depth = true; });
if (!has_tex || !has_depth)
return false;
return true;
}
bool pointcloud::should_process(const rs2::frame& frame)
{
if (!frame)
return false;
auto set = frame.as<rs2::frameset>();
if (set)
{
//process composite frame only if it contains both a depth frame and the requested texture frame
if (_stream_filter.stream == RS2_STREAM_ANY)
return false;
auto tex = set.first_or_default(_stream_filter.stream, _stream_filter.format);
if (!tex)
return false;
auto depth = set.first_or_default(RS2_STREAM_DEPTH, RS2_FORMAT_Z16);
if (!depth)
return false;
}
else
{
if (frame.get_profile().stream_type() == RS2_STREAM_DEPTH && frame.get_profile().format() == RS2_FORMAT_Z16)
return true;
auto p = frame.get_profile();
if (p.stream_type() == _stream_filter.stream && p.format() == _stream_filter.format && p.stream_index() == _stream_filter.index)
return true;
return false;
//TODO: switch to this code when map_to api is removed
//if (_stream_filter != RS2_STREAM_ANY)
// return false;
//process single frame only if it is a depth frame
//if (frame.get_profile().stream_type() != RS2_STREAM_DEPTH || frame.get_profile().format() != RS2_FORMAT_Z16)
// return false;
}
return true;
}
