标签：profile librealsense decimation frame filter block class rs2
1. rs2::decimation_filter
https://intelrealsense.github.io/librealsense/doxygen/classrs2_1_1decimation__filter.html
https://intelrealsense.github.io/librealsense/doxygen/rs__processing_8hpp_source.html
1 class decimation_filter : public filter
2 {
3 public:
4 decimation_filter() : filter(init(), 1) {}
5 decimation_filter(float magnitude) : filter(init(), 1)
6 {
7 set_option(RS2_OPTION_FILTER_MAGNITUDE, magnitude);
8 }
9
10 decimation_filter(filter f) : filter(f)
11 {
12 rs2_error* e = nullptr;
13 if (!rs2_is_processing_block_extendable_to(f.get(), RS2_EXTENSION_DECIMATION_FILTER, &e) && !e)
14 {
15 _block.reset();
16 }
17 error::handle(e);
18 }
19
20 private:
21 friend class context;
22
23 std::shared_ptr<rs2_processing_block> init()
24 {
25 rs2_error* e = nullptr;
26 auto block = std::shared_ptr<rs2_processing_block>(
27 rs2_create_decimation_filter_block(&e),
28 rs2_delete_processing_block);
29 error::handle(e);
30
31 // Redirect options API to the processing block
32 //options::operator=(this);
33
34 return block;
35 }
36 };
2. rs2_create_decimation_filter_block: rs_processing.h, src/rs.cpp
1 // src/rs.cpp
2 rs2_processing_block* rs2_create_decimation_filter_block(rs2_error** error) BEGIN_API_CALL
3 {
4 auto block = std::make_shared<librealsense::decimation_filter>();
5
6 return new rs2_processing_block{ block };
7 }
8 NOARGS_HANDLE_EXCEPTIONS_AND_RETURN(nullptr)
3. librealsense::decimation_filter: src/proc/decimation-filter.h, src/proc/decimation-filter.cpp
1 namespace librealsense
2 {
3
4 class decimation_filter : public stream_filter_processing_block
5 {
6 public:
7 decimation_filter();
8
9 protected:
10 rs2::frame prepare_target_frame(const rs2::frame& f, const rs2::frame_source& source, rs2_extension tgt_type);
11
12 void decimate_depth(const uint16_t * frame_data_in, uint16_t * frame_data_out,
13 size_t width_in, size_t height_in, size_t scale);
14
15 void decimate_others(rs2_format format, const void * frame_data_in, void * frame_data_out,
16 size_t width_in, size_t height_in, size_t scale);
17 rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override;
18
19 private:
20 void update_output_profile(const rs2::frame& f);
21
22 uint8_t _decimation_factor;
23 uint8_t _control_val;
24 uint8_t _patch_size;
25 uint8_t _kernel_size;
26 rs2::stream_profile _source_stream_profile;
27 rs2::stream_profile _target_stream_profile;
28 std::map<std::tuple<const rs2_stream_profile*, uint8_t>, rs2::stream_profile> _registered_profiles;
29 uint16_t _real_width; // Number of rows/columns with real datain the decimated image
30 uint16_t _real_height; // Correspond to w,h in the reference code
31 uint16_t _padded_width; // Corresponds to w4/h4 in the reference code
32 uint16_t _padded_height;
33 bool _recalc_profile;
34 bool _options_changed; // Tracking changes imposed by user
35 };
36 MAP_EXTENSION(RS2_EXTENSION_DECIMATION_FILTER, librealsense::decimation_filter);
37 }
1 rs2::frame decimation_filter::process_frame(const rs2::frame_source& source, const rs2::frame& f)
2 {
3 update_output_profile(f);
4
5 auto src = f.as<rs2::video_frame>();
6 rs2::stream_profile profile = f.get_profile();
7 rs2_format format = profile.format();
8 rs2_stream type = profile.stream_type();
9
10 rs2_extension tgt_type;
11 if (type == RS2_STREAM_COLOR || type == RS2_STREAM_INFRARED)
12 tgt_type = RS2_EXTENSION_VIDEO_FRAME;
13 else
14 tgt_type = f.is<rs2::disparity_frame>() ? RS2_EXTENSION_DISPARITY_FRAME : RS2_EXTENSION_DEPTH_FRAME;
15
16 if (auto tgt = prepare_target_frame(f, source, tgt_type))
17 {
18 if (format == RS2_FORMAT_Z16)
19 {
20 decimate_depth(static_cast<const uint16_t*>(src.get_data()),
21 static_cast<uint16_t*>(const_cast<void*>(tgt.get_data())),
22 src.get_width(), src.get_height(), this->_patch_size);
23 }
24 else
25 {
26 decimate_others(format, src.get_data(),
27 const_cast<void*>(tgt.get_data()),
28 src.get_width(), src.get_height(), this->_patch_size);
29 }
30 return tgt;
31 }
32 return f;
33 }
标签：profile,librealsense,decimation,frame,filter,block,class,rs2 来源： https://www.cnblogs.com/imoon22/p/14276867.html
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