Add new post processing filter - rotation filter

common/subdevice-model.cpp

@@ -194,8 +194,6 @@ namespace rs2
         }
         catch (...) {}
 
-        auto filters = s->get_recommended_filters();
-
         for (auto&& f : s->get_recommended_filters())
         {
             auto shared_filter = std::make_shared<filter>(f);
@@ -215,6 +213,9 @@ namespace rs2
                     model->enable(false);
             }
 
+            if( shared_filter->is< rotation_filter >() )
+                model->enable( false ); 
+
             if (shared_filter->is<threshold_filter>())
             {
                 if (s->supports(RS2_CAMERA_INFO_PRODUCT_ID))

examples/post-processing/rs-post-processing.cpp

@@ -71,6 +71,7 @@ int main(int argc, char * argv[]) try
 
     // Declare filters
     rs2::decimation_filter dec_filter;  // Decimation - reduces depth frame density
+    rs2::rotation_filter rot_filter;    // Rotation - rotates frames
     rs2::threshold_filter thr_filter;   // Threshold  - removes values outside recommended range
     rs2::spatial_filter spat_filter;    // Spatial    - edge-preserving spatial smoothing
     rs2::temporal_filter temp_filter;   // Temporal   - reduces temporal noise
@@ -85,6 +86,7 @@ int main(int argc, char * argv[]) try
 
     // The following order of emplacement will dictate the orders in which filters are applied
     filters.emplace_back("Decimate", dec_filter);
+    filters.emplace_back( "Rotate", rot_filter );
     filters.emplace_back("Threshold", thr_filter);
     filters.emplace_back(disparity_filter_name, depth_to_disparity);
     filters.emplace_back("Spatial", spat_filter);
@@ -115,11 +117,12 @@ int main(int argc, char * argv[]) try
             /* Apply filters.
             The implemented flow of the filters pipeline is in the following order:
             1. apply decimation filter
-            2. apply threshold filter
-            3. transform the scene into disparity domain
-            4. apply spatial filter
-            5. apply temporal filter
-            6. revert the results back (if step Disparity filter was applied
+            2. apply rotation filter
+            3. apply threshold filter
+            4. transform the scene into disparity domain
+            5. apply spatial filter
+            6. apply temporal filter
+            7. revert the results back (if step Disparity filter was applied
             to depth domain (each post processing block is optional and can be applied independantly).
             */
             bool revert_disparity = false;
@@ -269,11 +272,29 @@ void render_ui(float w, float h, std::vector<filter_options>& filters)
         ImGui::Checkbox(filter.filter_name.c_str(), &tmp_value);
         filter.is_enabled = tmp_value;
         ImGui::PopStyleColor();
+
+
+        if( filter.filter_name == "Rotate" )  // Combo box specifically for the rotation filter
+        {
+            offset_y += elements_margin;
+            ImGui::PushItemWidth( w / 4 );
+            ImGui::SetCursorPos( { offset_x, offset_y } );
+            static const char * rotation_modes[] = { "0", "90", "180", "270" };
+            static int current_rotation_mode = 0;
+            if( ImGui::Combo( "Rotation Angle", &current_rotation_mode, rotation_modes, 4 ) )
+            {
+                float rotation_value = std::stof( rotation_modes[current_rotation_mode] );
+                filter.supported_options[RS2_OPTION_ROTATION].value = rotation_value;
 
-        if (filter.supported_options.size() == 0)
+                // Set the filter's option using the new value
+                filter.filter.set_option( RS2_OPTION_ROTATION, rotation_value );
+            }
+        }
+        if( filter.supported_options.size() == 0 )
         {
             offset_y += elements_margin;
         }
+
         // Draw a slider for each of the filter's options
         for (auto& option_slider_pair : filter.supported_options)
         {

include/librealsense2/h/rs_option.h

@@ -125,6 +125,7 @@ extern "C" {
         RS2_OPTION_SOC_PVT_TEMPERATURE, /**< Temperature of PVT SOC */
         RS2_OPTION_GYRO_SENSITIVITY,/**< Control of the gyro sensitivity level, see rs2_gyro_sensitivity for values */
         RS2_OPTION_REGION_OF_INTEREST,/**< The rectangular area used from the streaming profile */
+        RS2_OPTION_ROTATION,/**Rotates frames*/
         RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_option;
 

include/librealsense2/h/rs_processing.h

@@ -224,6 +224,12 @@ rs2_processing_block* rs2_create_align(rs2_stream align_to, rs2_error** error);
 */
 rs2_processing_block* rs2_create_decimation_filter_block(rs2_error** error);
 
+/**
+ * Creates post-processing filter block. This block accepts frames and applies rotation filter
+ * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+ */
+rs2_processing_block * rs2_create_rotation_filter_block( rs2_error ** error );
+
 /**
 * Creates Depth post-processing filter block. This block accepts depth frames, applies temporal filter
 * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored

include/librealsense2/h/rs_types.h

@@ -161,6 +161,7 @@ typedef enum rs2_extension
     RS2_EXTENSION_SOFTWARE_DEVICE,
     RS2_EXTENSION_SOFTWARE_SENSOR,
     RS2_EXTENSION_DECIMATION_FILTER,
+    RS2_EXTENSION_ROTATION_FILTER,
     RS2_EXTENSION_THRESHOLD_FILTER,
     RS2_EXTENSION_DISPARITY_FILTER,
     RS2_EXTENSION_SPATIAL_FILTER,

include/librealsense2/hpp/rs_processing.hpp

@@ -851,6 +851,48 @@ namespace rs2
         }
     };
 
+    class rotation_filter : public filter
+    {
+    public:
+        /**
+         * Create rotation filter
+         * Rotation filter performs rotation of the frames
+         */
+        rotation_filter()
+            : filter( init(), 1 )
+        {
+        }
+
+        rotation_filter( float value )
+            : filter( init(), 1 )
+        {
+            set_option( RS2_OPTION_ROTATION, value );
+        }
+
+        rotation_filter( filter f )
+            : filter( f )
+        {
+            rs2_error * e = nullptr;
+            if( ! rs2_is_processing_block_extendable_to( f.get(), RS2_EXTENSION_ROTATION_FILTER, &e ) && ! e )
+            {
+                _block.reset();
+            }
+            error::handle( e );
+        }
+
+    private:
+        friend class context;
+
+        std::shared_ptr< rs2_processing_block > init()
+        {
+            rs2_error * e = nullptr;
+            auto block = std::shared_ptr< rs2_processing_block >( rs2_create_rotation_filter_block( &e ),
+                                                                  rs2_delete_processing_block );
+            error::handle( e );
+            return block;
+        }
+    };
+
     class temporal_filter : public filter
     {
     public:

src/media/ros/ros_writer.cpp

@@ -2,6 +2,7 @@
 // Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 
 #include "proc/decimation-filter.h"
+#include "proc/rotation-filter.h"
 #include "proc/threshold.h"
 #include "proc/disparity-transform.h"
 #include "proc/spatial-filter.h"
@@ -513,6 +514,7 @@ namespace librealsense
         RETURN_IF_EXTENSION(block, RS2_EXTENSION_HOLE_FILLING_FILTER);
         RETURN_IF_EXTENSION(block, RS2_EXTENSION_HDR_MERGE);
         RETURN_IF_EXTENSION(block, RS2_EXTENSION_SEQUENCE_ID_FILTER);
+        RETURN_IF_EXTENSION(block, RS2_EXTENSION_ROTATION_FILTER);
 
 #undef RETURN_IF_EXTENSION
 

src/proc/CMakeLists.txt

@@ -20,6 +20,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/synthetic-stream.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/syncer-processing-block.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/decimation-filter.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/rotation-filter.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/spatial-filter.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/temporal-filter.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/hdr-merge.cpp"
@@ -49,6 +50,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/occlusion-filter.h"
         "${CMAKE_CURRENT_LIST_DIR}/synthetic-stream.h"
         "${CMAKE_CURRENT_LIST_DIR}/decimation-filter.h"
+        "${CMAKE_CURRENT_LIST_DIR}/rotation-filter.h"
         "${CMAKE_CURRENT_LIST_DIR}/spatial-filter.h"
         "${CMAKE_CURRENT_LIST_DIR}/temporal-filter.h"
         "${CMAKE_CURRENT_LIST_DIR}/hdr-merge.h"