Module processing_blocks

realsense_rust

Module processing_blocks 

Source
Expand description

Processing blocks available to the RealSense library

Processing blocks are used to apply various filters and transformations to frame data. Each processing block operates on frames and outputs modified versions.

§Available Processing Blocks

§Core Processing Blocks

  • align - Aligns frames from different sensors to a common coordinate system
  • colorizer - Converts depth frames to RGB format for visualization
  • decimation - Reduces the resolution of depth frames
  • pointcloud - Generates 3D point clouds from depth data

§Filtering Blocks

  • spatial_filter - Performs spatial filtering to smooth depth data
  • temporal_filter - Reduces temporal noise by averaging frames over time
  • hole_filling - Fills holes in depth data using adjacent pixels
  • threshold - Filters depth values based on min/max thresholds

§Transform Blocks

§Configuration

  • options - Runtime configuration options for processing blocks

§Usage Examples

§Basic Colorizer

use realsense_rust::processing_blocks::colorizer::Colorizer;
use std::time::Duration;

let mut colorizer = Colorizer::new(5)?;

// Process a depth frame
colorizer.queue(depth_frame)?;
let colorized_frame = colorizer.wait(Duration::from_millis(100))?;

§Filter Chain

use realsense_rust::processing_blocks::{
    decimation::Decimation,
    spatial_filter::SpatialFilter,
    temporal_filter::TemporalFilter,
    hole_filling::HoleFillingFilter,
    colorizer::Colorizer,
};
use std::time::Duration;

// Create filter chain
let mut decimation = Decimation::new(5)?;
let mut spatial_filter = SpatialFilter::new(5)?;
let mut temporal_filter = TemporalFilter::new(5)?;
let mut hole_filling = HoleFillingFilter::new(5)?;
let mut colorizer = Colorizer::new(5)?;

// Apply filters in sequence
decimation.queue(depth_frame)?;
let frame = decimation.wait(Duration::from_millis(100))?;

spatial_filter.queue(frame)?;
let frame = spatial_filter.wait(Duration::from_millis(100))?;

temporal_filter.queue(frame)?;
let frame = temporal_filter.wait(Duration::from_millis(100))?;

hole_filling.queue(frame)?;
let frame = hole_filling.wait(Duration::from_millis(100))?;

colorizer.queue(frame)?;
let colorized_frame = colorizer.wait(Duration::from_millis(100))?;

See the examples/ directory for complete working examples.

Modules§

align
Processing block aligning one stream with the other
colorizer
Processing block for colorizing depth data
decimation
Processing block that decimates the depth stream
disparity_transform
Processing block for depth<->disparity domain transformation
errors
Errors that can occur when handling processing blocks.
hole_filling
Processing block for filling holes in depth data
options
Processing block option definitions and management
pointcloud
Processing block for generating point clouds from depth data
spatial_filter
Processing block for applying spatial filtering to depth data
temporal_filter
Processing block for applying temporal filtering to depth data
threshold
Processing block for thresholding depth data