Processing blocks frameset support #2245
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examples/example.hpp
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| rect calc_grid(float2 window, int streams) | ||
| { | ||
| float ratio = window.x / window.y; |
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pls add sanity checks : streams=0, win=[0,0]
examples/example.hpp
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| @@ -323,4 +405,4 @@ void register_glfw_callbacks(window& app, glfw_state& app_state) | |||
| app_state.yaw = app_state.pitch = 0; app_state.offset_x = app_state.offset_y = 0.0; | |||
| } | |||
| }; | |||
| } | |||
| } | |||
include/librealsense2/h/rs_frame.h
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| @@ -276,6 +276,17 @@ int rs2_is_frame_extendable_to(const rs2_frame* frame, rs2_extension extension_t | |||
| rs2_frame* rs2_allocate_synthetic_video_frame(rs2_source* source, const rs2_stream_profile* new_stream, rs2_frame* original, | |||
| int new_bpp, int new_width, int new_height, int new_stride, rs2_extension frame_type, rs2_error** error); | |||
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| /** | |||
| * Allocate new points frame using a frame-source provided form a processing block | |||
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| _block->start(_queue); | ||
| } | ||
| align(rs2_stream align_to) : processing_block(init(align_to), 1) {} | ||
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| /** | ||
| * Run the alignment process on the given frames to get an aligned set of frames | ||
| * | ||
| * \param[in] frame A pair of images, where at least one of which is a depth frame |
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param[in] frames A pair the frameset may include more than two frames
| pointcloud(rs2_stream stream, int index = 0) : processing_block(init(), 1) | ||
| { | ||
| set_option(RS2_OPTION_STREAM_FILTER, float(stream)); | ||
| set_option(RS2_OPTION_STREAM_INDEX_FILTER, float(index)); |
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Please check if specifying stream format is required (e.g. disparity)
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we only need the intrinsic & extrinsic data of the "other stream" sensor, so the format has no effect here
src/proc/align.cpp
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| //Find the depth frame | ||
| for (int i = 0; i < composite->get_embedded_frames_count(); i++) | ||
| auto curr_depth = depth_frame.get_profile().as<rs2::video_stream_profile>(); | ||
| if (_prev_depth_res.first != curr_depth.width() || _prev_depth_res.second != curr_depth.height()) |
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Add TODO for future refactoring based on sensor/profile id.
This will handle the case that two different depth streams with similar resolution being proceesed by the same "align" object
| }}; | ||
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| static color_map classic { { | ||
| static color_map jet{ { |
| if (!sub.first(f.get_profile().stream_type(), f.get_profile().format())) | ||
| return false; | ||
| } | ||
| return true; |
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In case both "full" and "sub" are empty the function returns true. Is this the expected behavior?
| return true; | ||
| } | ||
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| bool is_equel(rs2::frameset org, rs2::frameset processed) |
| REQUIRE(org_depth.get_width() == from_disp_processed_frame.get_width()); | ||
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| pipe.stop(); | ||
| } |
All processing-blocks must work on framesets in addition to frames
Jira issue - DSO-10202