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;
}
rs2::frame align::process_frame(const rs2::frame_source& source, const rs2::frame& f)
{
rs2::frame rv;
std::vector<rs2::frame> output_frames;
std::vector<rs2::frame> other_frames;
auto frames = f.as<rs2::frameset>();
auto depth = frames.first_or_default(RS2_STREAM_DEPTH, RS2_FORMAT_Z16).as<rs2::depth_frame>();
_depth_scale = ((librealsense::depth_frame*)depth.get())->get_units();
if (_to_stream_type == RS2_STREAM_DEPTH)
frames.foreach([&other_frames](const rs2::frame& f) {if (f.get_profile().stream_type() != RS2_STREAM_DEPTH) other_frames.push_back(f); });
else
frames.foreach([this, &other_frames](const rs2::frame& f) {if (f.get_profile().stream_type() == _to_stream_type) other_frames.push_back(f); });
if (_to_stream_type == RS2_STREAM_DEPTH)
{
for (auto from : other_frames)
{
auto aligned_frame = allocate_aligned_frame(source, from, depth);
align_frames(aligned_frame, from, depth);
output_frames.push_back(aligned_frame);
}
}
else
{
auto to = other_frames.front();
auto aligned_frame = allocate_aligned_frame(source, depth, to);
align_frames(aligned_frame, depth, to);
output_frames.push_back(aligned_frame);
}
auto new_composite = source.allocate_composite_frame(std::move(output_frames));
return new_composite;
}
