rs2::frame pointcloud::process_frame(const rs2::frame_source& source, const rs2::frame& f)
{
rs2::frame rv;
if (auto composite = f.as<rs2::frameset>())
{
auto texture = composite.first(_stream_filter.stream);
inspect_other_frame(texture);
auto depth = composite.first(RS2_STREAM_DEPTH, RS2_FORMAT_Z16);
inspect_depth_frame(depth);
rv = process_depth_frame(source, depth);
}
else
{
if (f.is<rs2::depth_frame>())
{
inspect_depth_frame(f);
rv = process_depth_frame(source, f);
}
if (f.get_profile().stream_type() == _stream_filter.stream && f.get_profile().format() == _stream_filter.format)
{
inspect_other_frame(f);
}
}
return rv;
}
void pointcloud::inspect_other_frame(const rs2::frame& other)
{
if (_stream_filter != _prev_stream_filter)
{
_prev_stream_filter = _stream_filter;
}
if (_extrinsics.has_value() && other.get_profile().get() == _other_stream.get_profile().get())
return;
_other_stream = other;
_other_intrinsics = optional_value<rs2_intrinsics>();
_extrinsics = optional_value<rs2_extrinsics>();
if (!_other_intrinsics)
{
auto stream_profile = _other_stream.get_profile();
if (auto video = stream_profile.as<rs2::video_stream_profile>())
{
_other_intrinsics = video.get_intrinsics();
_occlusion_filter->set_texel_intrinsics(_other_intrinsics.value());
}
}
set_extrinsics();
}
bool disparity_transform::should_process(const rs2::frame& frame)
{
if (!frame)
return false;
if (frame.is<rs2::frameset>())
return false;
if (_transform_to_disparity && (frame.get_profile().stream_type() != RS2_STREAM_DEPTH || frame.get_profile().format() != RS2_FORMAT_Z16))
return false;
if (!_transform_to_disparity && (frame.get_profile().stream_type() != RS2_STREAM_DEPTH ||
(frame.get_profile().format() != RS2_FORMAT_DISPARITY16 && frame.get_profile().format() != RS2_FORMAT_DISPARITY32)))
return false;
if (frame.is<rs2::disparity_frame>() == _transform_to_disparity)
return false;
return true;
}
void hole_filling_filter::update_configuration(const rs2::frame& f)
{
if (f.get_profile().get() != _source_stream_profile.get())
{
_source_stream_profile = f.get_profile();
_target_stream_profile = _source_stream_profile.clone(RS2_STREAM_DEPTH, 0, _source_stream_profile.format());
environment::get_instance().get_extrinsics_graph().register_same_extrinsics(
*(stream_interface*)(f.get_profile().get()->profile),
*(stream_interface*)(_target_stream_profile.get()->profile));
_extension_type = f.is<rs2::disparity_frame>() ? RS2_EXTENSION_DISPARITY_FRAME : RS2_EXTENSION_DEPTH_FRAME;
_bpp = (_extension_type == RS2_EXTENSION_DISPARITY_FRAME) ? sizeof(float) : sizeof(uint16_t);
auto vp = _target_stream_profile.as<rs2::video_stream_profile>();
_width = vp.width();
_height = vp.height();
_stride = _width * _bpp;
_current_frm_size_pixels = _width * _height;
}
}
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;
}
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();
}
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;
}
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 validate_ppf_results(rs2::frame origin_depth, rs2::frame result_depth, const ppf_test_config& reference_data, size_t frame_idx)
{
std::vector<uint16_t> diff2orig;
std::vector<uint16_t> diff2ref;
// Basic sanity scenario with no filters applied.
// validating domain transform in/out conversion. Requiring input=output
bool domain_transform_only = (reference_data.downsample_scale == 1) &&
(!reference_data.spatial_filter) && (!reference_data.temporal_filter);
auto result_profile = result_depth.get_profile().as<rs2::video_stream_profile>();
REQUIRE(result_profile);
CAPTURE(result_profile.width());
CAPTURE(result_profile.height());
REQUIRE(result_profile.width() == reference_data.output_res_x);
REQUIRE(result_profile.height() == reference_data.output_res_y);
auto pixels = result_profile.width()*result_profile.height();
diff2ref.resize(pixels);
if (domain_transform_only)
diff2orig.resize(pixels);
// Pixel-by-pixel comparison of the resulted filtered depth vs data ercorded with external tool
auto v1 = reinterpret_cast<const uint16_t*>(result_depth.get_data());
auto v2 = reinterpret_cast<const uint16_t*>(reference_data._output_frames[frame_idx].data());
for (auto i = 0; i < pixels; i++)
{
uint16_t diff = std::abs(*v1++ - *v2++);
diff2ref[i] = diff;
}
// validating depth<->disparity domain transformation is lostless.
if (domain_transform_only)
REQUIRE(profile_diffs("./DomainTransform.txt",diff2orig, 0, 0, frame_idx));
// Validate the filters
// The differences between the reference code and librealsense implementation are byte-compared below
return profile_diffs("./Filterstransform.txt", diff2ref, 0.f, 0, frame_idx);
}
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;
}
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;
}
}
rs2::frame colorizer::process_frame(const rs2::frame_source& source, const rs2::frame& f)
{
if (f.get_profile().get() != _source_stream_profile.get())
{
_source_stream_profile = f.get_profile();
_target_stream_profile = f.get_profile().clone(RS2_STREAM_DEPTH, 0, RS2_FORMAT_RGB8);
}
auto make_equalized_histogram = [this](const rs2::video_frame& depth, rs2::video_frame rgb)
{
const auto max_depth = 0x10000;
static uint32_t histogram[max_depth];
memset(histogram, 0, sizeof(histogram));
const auto w = depth.get_width(), h = depth.get_height();
const auto depth_data = reinterpret_cast<const uint16_t*>(depth.get_data());
auto rgb_data = reinterpret_cast<uint8_t*>(const_cast<void *>(rgb.get_data()));
for (auto i = 0; i < w*h; ++i) ++histogram[depth_data[i]];
for (auto i = 2; i < max_depth; ++i) histogram[i] += histogram[i - 1]; // Build a cumulative histogram for the indices in [1,0xFFFF]
auto cm = _maps[_map_index];
for (auto i = 0; i < w*h; ++i)
{
auto d = depth_data[i];
if (d)
{
auto f = histogram[d] / (float)histogram[0xFFFF]; // 0-255 based on histogram location
auto c = cm->get(f);
rgb_data[i * 3 + 0] = (uint8_t)c.x;
rgb_data[i * 3 + 1] = (uint8_t)c.y;
rgb_data[i * 3 + 2] = (uint8_t)c.z;
}
else
{
rgb_data[i * 3 + 0] = 0;
rgb_data[i * 3 + 1] = 0;
rgb_data[i * 3 + 2] = 0;
}
}
};
auto make_value_cropped_frame = [this](const rs2::video_frame& depth, rs2::video_frame rgb)
{
const auto max_depth = 0x10000;
const auto w = depth.get_width(), h = depth.get_height();
const auto depth_data = reinterpret_cast<const uint16_t*>(depth.get_data());
auto rgb_data = reinterpret_cast<uint8_t*>(const_cast<void *>(rgb.get_data()));
auto fi = (frame_interface*)depth.get();
auto df = dynamic_cast<librealsense::depth_frame*>(fi);
auto depth_units = df->get_units();
for (auto i = 0; i < w*h; ++i)
{
auto d = depth_data[i];
if (d)
{
auto f = (d * depth_units - _min) / (_max - _min);
auto c = _maps[_map_index]->get(f);
rgb_data[i * 3 + 0] = (uint8_t)c.x;
rgb_data[i * 3 + 1] = (uint8_t)c.y;
rgb_data[i * 3 + 2] = (uint8_t)c.z;
}
else
{
rgb_data[i * 3 + 0] = 0;
rgb_data[i * 3 + 1] = 0;
rgb_data[i * 3 + 2] = 0;
}
}
};
rs2::frame ret;
auto vf = f.as<rs2::video_frame>();
//rs2_extension ext = f.is<rs2::disparity_frame>() ? RS2_EXTENSION_DISPARITY_FRAME : RS2_EXTENSION_DEPTH_FRAME;
ret = source.allocate_video_frame(_target_stream_profile, f, 3, vf.get_width(), vf.get_height(), vf.get_width() * 3, RS2_EXTENSION_VIDEO_FRAME);
if (_equalize)
make_equalized_histogram(f, ret);
else
make_value_cropped_frame(f, ret);
return ret;
}