Filter.h File Reference

The processing unit of the SDK can perform point cloud generation, format conversion and other functions. More...

#include "ObTypes.h"

Go to the source code of this file.

Macros
#define	ob_get_filter   ob_filter_list_get_filter
#define	ob_get_filter_name   ob_filter_get_name

Functions
OB_EXPORT ob_filter *	ob_create_filter (const char *name, ob_error **error)
	Create a Filter object.
OB_EXPORT const char *	ob_filter_get_name (const ob_filter *filter, ob_error **error)
	Get the name of ob_filter.
OB_EXPORT const char *	ob_filter_get_vendor_specific_code (const char *name, ob_error **error)
	Get the vendor specific code of a filter by filter name.
OB_EXPORT ob_filter *	ob_create_private_filter (const char *name, const char *activation_key, ob_error **error)
	Create a private Filter object with activation key.
OB_EXPORT void	ob_delete_filter (ob_filter *filter, ob_error **error)
	Delete the filter.
OB_EXPORT const char *	ob_filter_get_config_schema (const ob_filter *filter, ob_error **error)
	Get config schema of the filter.
OB_EXPORT ob_filter_config_schema_list *	ob_filter_get_config_schema_list (const ob_filter *filter, ob_error **error)
	Get the filter config schema list of the filter.
OB_EXPORT void	ob_delete_filter_config_schema_list (ob_filter_config_schema_list *config_schema_list, ob_error **error)
	Delete a list of filter config schema items.
OB_EXPORT void	ob_filter_update_config (ob_filter *filter, uint8_t argc, const char **argv, ob_error **error)
	Update config of the filter.
OB_EXPORT double	ob_filter_get_config_value (const ob_filter *filter, const char *config_name, ob_error **error)
	Get the filter config value by name and cast to double.
OB_EXPORT void	ob_filter_set_config_value (ob_filter *filter, const char *config_name, double value, ob_error **error)
	Set the filter config value by name.
OB_EXPORT void	ob_filter_reset (ob_filter *filter, ob_error **error)
	Reset the filter, clears the cache, and resets the state. If the asynchronous interface is used, the processing thread will also be stopped and the pending cache frames will be cleared.
OB_EXPORT void	ob_filter_enable (ob_filter *filter, bool enable, ob_error **error)
	Enable the frame post processing.
OB_EXPORT bool	ob_filter_is_enabled (const ob_filter *filter, ob_error **error)
	Get the enable status of the frame post processing.
OB_EXPORT ob_frame *	ob_filter_process (ob_filter *filter, const ob_frame *frame, ob_error **error)
	Process the frame (synchronous interface).
OB_EXPORT void	ob_filter_set_callback (ob_filter *filter, ob_filter_callback callback, void *user_data, ob_error **error)
	Set the processing result callback function for the filter (asynchronous callback interface).
OB_EXPORT void	ob_filter_push_frame (ob_filter *filter, const ob_frame *frame, ob_error **error)
	Push the frame into the pending cache for the filter (asynchronous callback interface).
OB_EXPORT uint32_t	ob_filter_list_get_count (const ob_filter_list *filter_list, ob_error **error)
	Get the number of filter in the list.
OB_EXPORT ob_filter *	ob_filter_list_get_filter (const ob_filter_list *filter_list, uint32_t index, ob_error **error)
	Get the filter by index.
OB_EXPORT void	ob_delete_filter_list (ob_filter_list *filter_list, ob_error **error)
	Delete a list of ob_filter objects.
OB_EXPORT uint32_t	ob_filter_config_schema_list_get_count (const ob_filter_config_schema_list *config_schema_list, ob_error **error)
	Get the number of config schema items in the config schema list.
OB_EXPORT ob_filter_config_schema_item	ob_filter_config_schema_list_get_item (const ob_filter_config_schema_list *config_schema_list, uint32_t index, ob_error **error)
	Get the config schema item by index.
OB_EXPORT void	ob_align_filter_set_align_to_stream_profile (ob_filter *filter, const ob_stream_profile *align_to_stream_profile, ob_error **error)
	Set the align to stream profile for the align filter.

Detailed Description

The processing unit of the SDK can perform point cloud generation, format conversion and other functions.

Definition in file Filter.h.

Macro Definition Documentation

ob_get_filter

#define ob_get_filter   ob_filter_list_get_filter

Definition at line 259 of file Filter.h.

ob_get_filter_name

#define ob_get_filter_name   ob_filter_get_name

Definition at line 260 of file Filter.h.

Function Documentation

ob_create_filter()

OB_EXPORT ob_filter * ob_create_filter	(	const char *	name,
		ob_error **	error )

Create a Filter object.

Attention

If the filter of the specified name is a private filter, and the creator of the filter have not been activated, the function will return NULL.

Parameters

name	The name of the filter.
error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Align::Align(), ob::FilterFactory::createFilter(), ob::DecimationFilter::DecimationFilter(), ob::FormatConvertFilter::FormatConvertFilter(), ob::HdrMerge::HdrMerge(), ob::PointCloudFilter::PointCloudFilter(), ob::SequenceIdFilter::SequenceIdFilter(), and ob::ThresholdFilter::ThresholdFilter().

ob_filter_get_name()

OB_EXPORT const char * ob_filter_get_name	(	const ob_filter *	filter,
		ob_error **	error )

Get the name of ob_filter.

Parameters

filter	ob_filter object
error	Pointer to an error object that will be set if an error occurs.

Returns

char The filter of name

Referenced by ob::Filter::init().

ob_filter_get_vendor_specific_code()

OB_EXPORT const char * ob_filter_get_vendor_specific_code	(	const char *	name,
		ob_error **	error )

Get the vendor specific code of a filter by filter name.

A private filter can define its own vendor specific code for specific purposes.

Parameters

name	The name of the filter.
error	Pointer to an error object that will be set if an error occurs.

Returns

const char* Return the vendor specific code of the filter.

Referenced by ob::FilterFactory::getFilterVendorSpecificCode().

ob_create_private_filter()

OB_EXPORT ob_filter * ob_create_private_filter	(	const char *	name,
		const char *	activation_key,
		ob_error **	error )

Create a private Filter object with activation key.

Some private filters require an activation key to be activated, its depends on the vendor of the filter.

Parameters

name	The name of the filter.
activation_key	The activation key of the filter.
error	Pointer to an error object that will be set if an error occurs.

Returns

ob_filter* Return the private filter object.

Referenced by ob::FilterFactory::createPrivateFilter(), ob::DisparityTransform::DisparityTransform(), ob::HoleFillingFilter::HoleFillingFilter(), ob::NoiseRemovalFilter::NoiseRemovalFilter(), ob::SpatialAdvancedFilter::SpatialAdvancedFilter(), ob::SpatialFastFilter::SpatialFastFilter(), ob::SpatialModerateFilter::SpatialModerateFilter(), and ob::TemporalFilter::TemporalFilter().

ob_delete_filter()

OB_EXPORT void ob_delete_filter	(	ob_filter *	filter,
		ob_error **	error )

Delete the filter.

Parameters

[in]	filter	The filter object to be deleted.
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Filter::~Filter().

ob_filter_get_config_schema()

OB_EXPORT const char * ob_filter_get_config_schema	(	const ob_filter *	filter,
		ob_error **	error )

Get config schema of the filter.

The returned string is a csv format string representing the configuration schema of the filter. The format of the string is: <parameter_name>, <parameter_type: "int", "float", "bool">, <minimum_value>, <maximum_value>, <value_step>, <default_value>, <parameter_description>

Parameters

[in]	filter	The filter object to get the configuration schema for
[out]	error	Pointer to an error object that will be set if an error occurs

Returns

A csv format string representing the configuration schema of the filter

Referenced by ob::Filter::getConfigSchema().

ob_filter_get_config_schema_list()

OB_EXPORT ob_filter_config_schema_list * ob_filter_get_config_schema_list	(	const ob_filter *	filter,
		ob_error **	error )

Get the filter config schema list of the filter.

The returned string is a list of ob_config_schema_item representing the configuration schema of the filter.

Attention

The returned list should be deleted by calling ob_delete_filter_config_schema_list when it is no longer needed.

Parameters

filter	The filter object to get the configuration schema for
error	Pointer to an error object that will be set if an error occurs

Returns

ob_filter_config_schema_list* Return the filter config schema list of the filter

Referenced by ob::Filter::init().

ob_delete_filter_config_schema_list()

OB_EXPORT void ob_delete_filter_config_schema_list	(	ob_filter_config_schema_list *	config_schema_list,
		ob_error **	error )

Delete a list of filter config schema items.

Parameters

config_schema_list	The list of filter config schema items to delete.
error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Filter::init().

ob_filter_update_config()

OB_EXPORT void ob_filter_update_config	(	ob_filter *	filter,
		uint8_t	argc,
		const char **	argv,
		ob_error **	error )

Update config of the filter.

Attention

The passed in argc and argv must match the configuration schema returned by the ob_filter_get_config_schema function.

Parameters

[in]	filter	The filter object to update the configuration for
[in]	argc	The number of arguments in the argv array
[in]	argv	An array of strings representing the configuration values
[out]	error	Pointer to an error object that will be set if an error occurs

ob_filter_get_config_value()

OB_EXPORT double ob_filter_get_config_value	(	const ob_filter *	filter,
		const char *	config_name,
		ob_error **	error )

Get the filter config value by name and cast to double.

Attention

The returned value is cast to double, the actual type of the value depends on the filter config schema returned by ob_filter_get_config_schema.

Parameters

[in]	filter	A filter object.
[in]	config_name	config name
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

double The value of the config.

Referenced by ob::Filter::getConfigValue().

ob_filter_set_config_value()

OB_EXPORT void ob_filter_set_config_value	(	ob_filter *	filter,
		const char *	config_name,
		double	value,
		ob_error **	error )

Set the filter config value by name.

Attention

The pass into value type is double, witch will be cast to the actual type inside the filter. The actual type can be queried by the filter config schema returned by ob_filter_get_config_schema.

Parameters

[in]	filter	A filter object.
[in]	config_name	config name
[in]	value	The value to set.
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Filter::setConfigValue().

ob_filter_reset()

OB_EXPORT void ob_filter_reset	(	ob_filter *	filter,
		ob_error **	error )

Reset the filter, clears the cache, and resets the state. If the asynchronous interface is used, the processing thread will also be stopped and the pending cache frames will be cleared.

Parameters

[in]	filter	A filter object.
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Filter::reset().

ob_filter_enable()

OB_EXPORT void ob_filter_enable	(	ob_filter *	filter,
		bool	enable,
		ob_error **	error )

Enable the frame post processing.

The filter default is enable.

Attention

If the filter has been disabled by calling this function, processing will directly output a clone of the input frame.

Parameters

[in]	filter	A filter object.
[in]	enable	enable status, true: enable; false: disable.
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Filter::enable().

ob_filter_is_enabled()

OB_EXPORT bool ob_filter_is_enabled	(	const ob_filter *	filter,
		ob_error **	error )

Get the enable status of the frame post processing.

Attention

If the filter is disabled, the processing will directly output a clone of the input frame.

Parameters

[in]	filter	A filter object.
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

The post processing filter status. True: enable; False: disable.

Referenced by ob::Filter::isEnabled().

ob_filter_process()

OB_EXPORT ob_frame * ob_filter_process	(	ob_filter *	filter,
		const ob_frame *	frame,
		ob_error **	error )

Process the frame (synchronous interface).

Parameters

[in]	filter	A filter object.
[in]	frame	Pointer to the frame object to be processed.
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

The frame object processed by the filter.

Referenced by ob::Filter::process().

ob_filter_set_callback()

OB_EXPORT void ob_filter_set_callback	(	ob_filter *	filter,
		ob_filter_callback	callback,
		void *	user_data,
		ob_error **	error )

Set the processing result callback function for the filter (asynchronous callback interface).

Parameters

[in]	filter	A filter object.
[in]	callback	Callback function.
[in]	user_data	Arbitrary user data pointer can be passed in and returned from the callback.
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Filter::setCallBack().

ob_filter_push_frame()

OB_EXPORT void ob_filter_push_frame	(	ob_filter *	filter,
		const ob_frame *	frame,
		ob_error **	error )

Push the frame into the pending cache for the filter (asynchronous callback interface).

The frame will be processed by the filter when the processing thread is available and return a new processed frame to the callback function.

Attention

The frame object will be add reference count, so the user still need call ob_delete_frame to release the frame after calling this function.

Parameters

[in]	filter	A filter object.
[in]	frame	Pointer to the frame object to be processed.
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Filter::pushFrame().

ob_filter_list_get_count()

OB_EXPORT uint32_t ob_filter_list_get_count	(	const ob_filter_list *	filter_list,
		ob_error **	error )

Get the number of filter in the list.

Parameters

[in]	filter_list	filter list
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

uint32_t The number of list

Referenced by ob::Sensor::createRecommendedFilters(), and ob::OBFilterList::getCount().

ob_filter_list_get_filter()

OB_EXPORT ob_filter * ob_filter_list_get_filter	(	const ob_filter_list *	filter_list,
		uint32_t	index,
		ob_error **	error )

Get the filter by index.

Parameters

[in]	filter_list	Filter list
[in]	index	Filter index
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

ob_filter The index of ob_filter

Referenced by ob::Sensor::createRecommendedFilters(), and ob::OBFilterList::getFilter().

ob_delete_filter_list()

OB_EXPORT void ob_delete_filter_list	(	ob_filter_list *	filter_list,
		ob_error **	error )

Delete a list of ob_filter objects.

Parameters

[in]	filter_list	The list of ob_filter objects to delete.
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Sensor::createRecommendedFilters(), and ob::OBFilterList::~OBFilterList().

ob_filter_config_schema_list_get_count()

OB_EXPORT uint32_t ob_filter_config_schema_list_get_count	(	const ob_filter_config_schema_list *	config_schema_list,
		ob_error **	error )

Get the number of config schema items in the config schema list.

Parameters

config_schema_list	Filter config schema list
error	Pointer to an error object that will be set if an error occurs.

Returns

uint32_t The number of config schema items in the filter list

Referenced by ob::Filter::init().

ob_filter_config_schema_list_get_item()

OB_EXPORT ob_filter_config_schema_item ob_filter_config_schema_list_get_item	(	const ob_filter_config_schema_list *	config_schema_list,
		uint32_t	index,
		ob_error **	error )

Get the config schema item by index.

Parameters

config_schema_list	Filter config schema list
index	Config schema item index
error	Pointer to an error object that will be set if an error occurs.

Returns

ob_filter_config_schema_item* The config schema item by index

Referenced by ob::Filter::init().

ob_align_filter_set_align_to_stream_profile()

OB_EXPORT void ob_align_filter_set_align_to_stream_profile	(	ob_filter *	filter,
		const ob_stream_profile *	align_to_stream_profile,
		ob_error **	error )

Set the align to stream profile for the align filter.

It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).

Parameters

filter	A filter object.
align_to_stream_profile	The align target stream profile.
error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Align::setAlignToStreamProfile().