void remove_background(rs2::video_frame& other_frame, const rs2::depth_frame& depth_frame, float depth_scale, float clipping_dist)
{
const uint16_t* p_depth_frame = reinterpret_cast<const uint16_t*>(depth_frame.get_data());
uint8_t* p_other_frame = reinterpret_cast<uint8_t*>(const_cast<void*>(other_frame.get_data()));
int width = other_frame.get_width();
int height = other_frame.get_height();
int other_bpp = other_frame.get_bytes_per_pixel();
#pragma omp parallel for schedule(dynamic) //Using OpenMP to try to parallelise the loop
for (int y = 0; y < height; y++)
{
auto depth_pixel_index = y * width;
for (int x = 0; x < width; x++, ++depth_pixel_index)
{
// Get the depth value of the current pixel
auto pixels_distance = depth_scale * p_depth_frame[depth_pixel_index];
// Check if the depth value is invalid (<=0) or greater than the threashold
if (pixels_distance <= 0.f || pixels_distance > clipping_dist)
{
// Calculate the offset in other frame's buffer to current pixel
auto offset = depth_pixel_index * other_bpp;
// Set pixel to "background" color (0x999999)
std::memset(&p_other_frame[offset], 0x99, other_bpp);
}
}
}
}
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;
}
