void pointcloud::inspect_depth_frame(const rs2::frame& depth)
{
if (!_output_stream || _depth_stream.get_profile().get() != depth.get_profile().get())
{
_output_stream = depth.get_profile().as<rs2::video_stream_profile>().clone(
RS2_STREAM_DEPTH, depth.get_profile().stream_index(), RS2_FORMAT_XYZ32F);
_depth_stream = depth;
_depth_intrinsics = optional_value<rs2_intrinsics>();
_depth_units = optional_value<float>();
_extrinsics = optional_value<rs2_extrinsics>();
}
bool found_depth_intrinsics = false;
bool found_depth_units = false;
if (!_depth_intrinsics)
{
auto stream_profile = depth.get_profile();
if (auto video = stream_profile.as<rs2::video_stream_profile>())
{
_depth_intrinsics = video.get_intrinsics();
_pixels_map.resize(_depth_intrinsics->height*_depth_intrinsics->width);
_occlusion_filter->set_depth_intrinsics(_depth_intrinsics.value());
preprocess();
found_depth_intrinsics = true;
}
}
if (!_depth_units)
{
auto sensor = ((frame_interface*)depth.get())->get_sensor().get();
_depth_units = sensor->get_option(RS2_OPTION_DEPTH_UNITS).query();
found_depth_units = true;
}
set_extrinsics();
}
void disparity_transform::update_transformation_profile(const rs2::frame& f)
{
if(f.get_profile().get() != _source_stream_profile.get())
{
_source_stream_profile = f.get_profile();
// Check if the new frame originated from stereo-based depth sensor
// and retrieve the stereo baseline parameter that will be used in transformations
auto snr = ((frame_interface*)f.get())->get_sensor().get();
librealsense::depth_stereo_sensor* dss;
// Playback sensor
if (auto a = As<librealsense::extendable_interface>(snr))
{
librealsense::depth_stereo_sensor* ptr;
if (_stereoscopic_depth = a->extend_to(TypeToExtension<librealsense::depth_stereo_sensor>::value, (void**)&ptr))
{
dss = ptr;
_depth_units = dss->get_depth_scale();
_stereo_baseline_meter = dss->get_stereo_baseline_mm()*0.001f;
}
}
else // Live sensor
{
_stereoscopic_depth = Is<librealsense::depth_stereo_sensor>(snr);
if (_stereoscopic_depth)
{
dss = As<librealsense::depth_stereo_sensor>(snr);
_depth_units = dss->get_depth_scale();
_stereo_baseline_meter = dss->get_stereo_baseline_mm()* 0.001f;
}
}
if (_stereoscopic_depth)
{
auto vp = _source_stream_profile.as<rs2::video_stream_profile>();
_focal_lenght_mm = vp.get_intrinsics().fx;
const uint8_t fractional_bits = 5;
const uint8_t fractions = 1 << fractional_bits;
_d2d_convert_factor = (_stereo_baseline_meter * _focal_lenght_mm * fractions) / _depth_units;
_width = vp.width();
_height = vp.height();
_update_target = true;
}
}
// Adjust the target profile
if (_update_target)
{
auto tgt_format = _transform_to_disparity ? RS2_FORMAT_DISPARITY32 : RS2_FORMAT_Z16;
_target_stream_profile = _source_stream_profile.clone(RS2_STREAM_DEPTH, 0, tgt_format);
auto src_vspi = dynamic_cast<video_stream_profile_interface*>(_source_stream_profile.get()->profile);
auto tgt_vspi = dynamic_cast<video_stream_profile_interface*>(_target_stream_profile.get()->profile);
rs2_intrinsics src_intrin = src_vspi->get_intrinsics();
tgt_vspi->set_intrinsics([src_intrin]() { return src_intrin; });
tgt_vspi->set_dims(src_intrin.width, src_intrin.height);
_update_target = false;
}
}