rs_processing.h File Reference

Exposes RealSense processing-block functionality for C compilers. More...

#include "rs_types.h"
#include "rs_sensor.h"

Go to the source code of this file.

Functions
rs2_processing_block *	rs2_create_colorizer (rs2_error **error)
rs2_processing_block *	rs2_create_sync_processing_block (rs2_error **error)
rs2_processing_block *	rs2_create_pointcloud (rs2_error **error)
rs2_processing_block *	rs2_create_processing_block (rs2_frame_processor_callback *proc, rs2_error **error)
rs2_processing_block *	rs2_create_processing_block_fptr (rs2_frame_processor_callback_ptr proc, void *context, rs2_error **error)
void	rs2_start_processing (rs2_processing_block *block, rs2_frame_callback *on_frame, rs2_error **error)
void	rs2_start_processing_fptr (rs2_processing_block *block, rs2_frame_callback_ptr on_frame, void *user, rs2_error **error)
void	rs2_start_processing_queue (rs2_processing_block *block, rs2_frame_queue *queue, rs2_error **error)
void	rs2_process_frame (rs2_processing_block *block, rs2_frame *frame, rs2_error **error)
void	rs2_delete_processing_block (rs2_processing_block *block)
rs2_frame_queue *	rs2_create_frame_queue (int capacity, rs2_error **error)
void	rs2_delete_frame_queue (rs2_frame_queue *queue)
rs2_frame *	rs2_wait_for_frame (rs2_frame_queue *queue, unsigned int timeout_ms, rs2_error **error)
int	rs2_poll_for_frame (rs2_frame_queue *queue, rs2_frame **output_frame, rs2_error **error)
void	rs2_enqueue_frame (rs2_frame *frame, void *queue)
rs2_processing_block *	rs2_create_align (rs2_stream align_to, rs2_error **error)
rs2_processing_block *	rs2_create_decimation_filter_block (rs2_error **error)
rs2_processing_block *	rs2_create_temporal_filter_block (rs2_error **error)
rs2_processing_block *	rs2_create_spatial_filter_block (rs2_error **error)
rs2_processing_block *	rs2_create_disparity_transform_block (unsigned char transform_to_disparity, rs2_error **error)
rs2_processing_block *	rs2_create_hole_filling_filter_block (rs2_error **error)

Detailed Description

Exposes RealSense processing-block functionality for C compilers.

Function Documentation

rs2_create_align()

rs2_processing_block* rs2_create_align	(	rs2_stream	align_to,
		rs2_error **	error
	)

Creates Align processing block.

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_colorizer()

rs2_processing_block* rs2_create_colorizer

(

rs2_error **

error

)

Creates Depth-Colorizer processing block that can be used to quickly visualize the depth data This block will accept depth frames as input and replace them by depth frames with format RGB8 Non-depth frames are passed through Further customization will be added soon (format, color-map, histogram equalization control)

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_decimation_filter_block()

rs2_processing_block* rs2_create_decimation_filter_block

(

rs2_error **

error

)

Creates Depth post-processing filter block. This block accepts depth frames, applies decimation filter and plots modified prames Note that due to the modifiedframe size, the decimated frame repaces the original one

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_disparity_transform_block()

rs2_processing_block* rs2_create_disparity_transform_block	(	unsigned char	transform_to_disparity,
		rs2_error **	error
	)

Creates a post processing block that provides for depth<->disparity domain transformation for stereo-based depth modules

Parameters

[in]	transform_to_disparity	flag select the transform direction: true = depth->disparity, and vice versa
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_frame_queue()

rs2_frame_queue* rs2_create_frame_queue	(	int	capacity,
		rs2_error **	error
	)

create frame queue. frame queues are the simplest x-platform synchronization primitive provided by librealsense to help developers who are not using async APIs

Parameters

[in]	capacity	max number of frames to allow to be stored in the queue before older frames will start to get dropped
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

handle to the frame queue, must be released using rs2_delete_frame_queue

rs2_create_hole_filling_filter_block()

rs2_processing_block* rs2_create_hole_filling_filter_block

(

rs2_error **

error

)

Creates Depth post-processing hole filling block. The filter replaces empty pixels with data from adjacent pixels based on the method selected

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_pointcloud()

rs2_processing_block* rs2_create_pointcloud

(

rs2_error **

error

)

Creates Point-Cloud processing block. This block accepts depth frames and outputs Points frames In addition, given non-depth frame, the block will align texture coordinate to the non-depth stream

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_processing_block()

rs2_processing_block* rs2_create_processing_block	(	rs2_frame_processor_callback *	proc,
		rs2_error **	error
	)

This method creates new custom processing block. This lets the users pass frames between module boundaries for processing This is an infrastructure function aimed at middleware developers, and also used by provided blocks such as sync, colorizer, etc..

Parameters

	proc	Processing function to be applied to every frame entering the block
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

new processing block, to be released by rs2_delete_processing_block

rs2_create_processing_block_fptr()

rs2_processing_block* rs2_create_processing_block_fptr	(	rs2_frame_processor_callback_ptr	proc,
		void *	context,
		rs2_error **	error
	)

This method creates new custom processing block from function pointer. This lets the users pass frames between module boundaries for processing This is an infrastructure function aimed at middleware developers, and also used by provided blocks such as sync, colorizer, etc..

Parameters

	proc	Processing function pointer to be applied to every frame entering the block
	context	User context (can be anything or null) to be passed later as ctx param of the callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

new processing block, to be released by rs2_delete_processing_block

rs2_create_spatial_filter_block()

rs2_processing_block* rs2_create_spatial_filter_block

(

rs2_error **

error

)

Creates Depth post-processing spatial filter block. This block accepts depth frames, applies spatial filters and plots modified prames

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_sync_processing_block()

rs2_processing_block* rs2_create_sync_processing_block

(

rs2_error **

error

)

Creates Sync processing block. This block accepts arbitrary frames and output composite frames of best matches Some frames may be released within the syncer if they are waiting for match for too long Syncronization is done (mostly) based on timestamps so good hardware timestamps are a pre-condition

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_temporal_filter_block()

rs2_processing_block* rs2_create_temporal_filter_block

(

rs2_error **

error

)

Creates Depth post-processing filter block. This block accepts depth frames, applies temporal filter

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_delete_frame_queue()

void rs2_delete_frame_queue

(

rs2_frame_queue *

queue

)

deletes frame queue and releases all frames inside it

Parameters

[in]

queue

queue to delete

rs2_delete_processing_block()

void rs2_delete_processing_block

(

rs2_processing_block *

block

)

Deletes the processing block

Parameters

[in]

block

Processing block

rs2_enqueue_frame()

void rs2_enqueue_frame	(	rs2_frame *	frame,
		void *	queue
	)

enqueue new frame into a queue

Parameters

[in]	frame	frame handle to enqueue (this operation passed ownership to the queue)
[in]	queue	the frame queue data structure

rs2_poll_for_frame()

int rs2_poll_for_frame	(	rs2_frame_queue *	queue,
		rs2_frame **	output_frame,
		rs2_error **	error
	)

poll if a new frame is available and dequeue if it is

Parameters

[in]	queue	the frame queue data structure
[out]	output_frame	frame handle to be released using rs2_release_frame
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

true if new frame was stored to output_frame

rs2_process_frame()

void rs2_process_frame	(	rs2_processing_block *	block,
		rs2_frame *	frame,
		rs2_error **	error
	)

This method is used to pass frame into a processing block

Parameters

[in]	block	Processing block
[in]	frame	Frame to process, ownership is moved to the block object
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_start_processing()

void rs2_start_processing	(	rs2_processing_block *	block,
		rs2_frame_callback *	on_frame,
		rs2_error **	error
	)

This method is used to direct the output from the processing block to some callback or sink object

Parameters

[in]	block	Processing block
[in]	on_frame	Callback to be invoked every time the processing block calls frame_ready
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_start_processing_fptr()

void rs2_start_processing_fptr	(	rs2_processing_block *	block,
		rs2_frame_callback_ptr	on_frame,
		void *	user,
		rs2_error **	error
	)

This method is used to direct the output from the processing block to some callback or sink object

Parameters

[in]	block	Processing block
[in]	on_frame	Callback function to be invoked every time the processing block calls frame_ready
[in]	user	User context for the callback (can be anything or null)
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_start_processing_queue()

void rs2_start_processing_queue	(	rs2_processing_block *	block,
		rs2_frame_queue *	queue,
		rs2_error **	error
	)

This method is used to direct the output from the processing block to a dedicated queue object

Parameters

[in]	block	Processing block
[in]	queue	Queue to place the processed frames to
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_wait_for_frame()

rs2_frame* rs2_wait_for_frame	(	rs2_frame_queue *	queue,
		unsigned int	timeout_ms,
		rs2_error **	error
	)

wait until new frame becomes available in the queue and dequeue it

Parameters

[in]	queue	the frame queue data structure
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

frame handle to be released using rs2_release_frame