abstract post-processing filter factory via context

src/CMakeLists.txt

@@ -88,6 +88,8 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/sensor.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/hid-sensor.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/uvc-sensor.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/rscore-pp-block-factory.h"
+        "${CMAKE_CURRENT_LIST_DIR}/rscore-pp-block-factory.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/software-device.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/software-device-info.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/software-sensor.cpp"

src/context.cpp

@@ -8,6 +8,7 @@
 #ifdef BUILD_WITH_DDS
 #include "dds/rsdds-device-factory.h"
 #endif
+#include "rscore-pp-block-factory.h"
 
 #include <librealsense2/hpp/rs_types.hpp>  // rs2_devices_changed_callback
 #include <librealsense2/rs.h>              // RS2_API_FULL_VERSION_STR
@@ -177,4 +178,10 @@ namespace librealsense {
     }
 
 
+    std::shared_ptr< processing_block_interface > context::create_pp_block( std::string const & name,
+                                                                            nlohmann::json const & settings )
+    {
+        return rscore_pp_block_factory().create_pp_block( name, settings );
+    }
+
 }  // namespace librealsense

src/context.h

@@ -13,6 +13,7 @@ namespace librealsense
 {
     class device_factory;
     class device_info;
+    class processing_block_interface;
 
 
     class context : public std::enable_shared_from_this<context>
@@ -58,6 +59,11 @@ namespace librealsense
 
         const nlohmann::json & get_settings() const { return _settings; }
 
+        // Create processing blocks given a name and settings.
+        //
+        std::shared_ptr< processing_block_interface > create_pp_block( std::string const & name,
+                                                                       nlohmann::json const & settings );
+
     private:
         void invoke_devices_changed_callbacks( std::vector< std::shared_ptr< device_info > > const & devices_removed,
                                                std::vector< std::shared_ptr< device_info > > const & devices_added );

src/core/CMakeLists.txt

@@ -32,6 +32,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/info.h"
         "${CMAKE_CURRENT_LIST_DIR}/extension.h"
         "${CMAKE_CURRENT_LIST_DIR}/pose-frame.h"
+        "${CMAKE_CURRENT_LIST_DIR}/pp-block-factory.h"
         "${CMAKE_CURRENT_LIST_DIR}/processing.h"
         "${CMAKE_CURRENT_LIST_DIR}/processing-block-interface.h"
         "${CMAKE_CURRENT_LIST_DIR}/recommended-processing-blocks-interface.h"

src/core/pp-block-factory.h

@@ -0,0 +1,38 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+#pragma once
+
+#include <nlohmann/json_fwd.hpp>
+#include <string>
+
+
+namespace librealsense {
+
+
+class processing_block_interface;
+
+
+// Instantiator of post-processing filters, AKA processing blocks, based on name and settings.
+// These are the ones you see in the Viewer, and are also returned by
+// sensor_interface::get_recommended_processing_blocks(). Their names are serialized to rosbags when recording and
+// reinstantiated on playback.
+//
+// Do not use directly: the context manages these!
+//
+class pp_block_factory
+{
+public:
+    virtual ~pp_block_factory() = default;
+
+    // Creates a post-processing block. If the name is unrecognized, a null pointer is returned. Otherwise, if the
+    // settings are wrong or some other error condition is encountered, an exception is raised.
+    // 
+    // The name is case-insensitive.
+    //
+    virtual std::shared_ptr< processing_block_interface > create_pp_block( std::string const & name,
+                                                                           nlohmann::json const & settings )
+        = 0;
+};
+
+
+}  // namespace librealsense

src/dds/rs-dds-sensor-proxy.cpp

@@ -17,16 +17,7 @@
 #include <src/core/frame-callback.h>
 #include <src/stream.h>
 
-// Processing blocks for DDS SW sensors
-#include <proc/decimation-filter.h>
-#include <proc/disparity-transform.h>
-#include <proc/hdr-merge.h>
-#include <proc/hole-filling-filter.h>
-#include <proc/sequence-id-filter.h>
-#include <proc/spatial-filter.h>
-#include <proc/temporal-filter.h>
-#include <proc/threshold.h>
-#include <proc/color-formats-converter.h>
+#include <src/proc/color-formats-converter.h>
 
 #include <rsutils/json.h>
 
@@ -563,28 +554,19 @@ void dds_sensor_proxy::add_processing_block( std::string const & filter_name )
     if( processing_block_exists( get_recommended_processing_blocks(), filter_name ) )
         return;  // Already created by another stream of this sensor
 
-    if( filter_name.compare( "Decimation Filter" ) == 0 )
-        // sensor.cpp sets format option based on sensor type, but the filter does not use it and selects the
-        // appropriate decimation algorithm based on processed frame profile format.
-        super::add_processing_block( std::make_shared< decimation_filter >() );
-    else if( filter_name.compare( "HDR Merge" ) == 0 )
-        super::add_processing_block( std::make_shared< hdr_merge >() );
-    else if( filter_name.compare( "Filter By Sequence id" ) == 0 )
-        super::add_processing_block( std::make_shared< sequence_id_filter >() );
-    else if( filter_name.compare( "Threshold Filter" ) == 0 )
-        super::add_processing_block( std::make_shared< threshold >() );
-    else if( filter_name.compare( "Depth to Disparity" ) == 0 )
-        super::add_processing_block( std::make_shared< disparity_transform >( true ) );
-    else if( filter_name.compare( "Disparity to Depth" ) == 0 )
-        super::add_processing_block( std::make_shared< disparity_transform >( false ) );
-    else if( filter_name.compare( "Spatial Filter" ) == 0 )
-        super::add_processing_block( std::make_shared< spatial_filter >() );
-    else if( filter_name.compare( "Temporal Filter" ) == 0 )
-        super::add_processing_block( std::make_shared< temporal_filter >() );
-    else if( filter_name.compare( "Hole Filling Filter" ) == 0 )
-        super::add_processing_block( std::make_shared< hole_filling_filter >() );
-    else
-        throw std::runtime_error( "Unsupported processing block '" + filter_name + "' received" );
+    try
+    {
+        auto ppb = get_device().get_context()->create_pp_block( filter_name, {} );
+        if( ! ppb )
+            LOG_WARNING( "Unsupported processing block '" + filter_name + "' received" );
+        else
+            super::add_processing_block( ppb );
+    }
+    catch( std::exception const & e )
+    {
+        // Bad settings, error in configuration, etc.
+        LOG_ERROR( "Failed to create processing block '" << filter_name << "': " << e.what() );
+    }
 }
 
 

src/media/ros/ros_reader.cpp

@@ -1,25 +1,18 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 
-#include <cstring>
 #include "ros_reader.h"
 #include "ds/ds-device-common.h"
 #include "ds/d400/d400-private.h"
-#include "proc/disparity-transform.h"
-#include "proc/decimation-filter.h"
-#include "proc/threshold.h" 
-#include "proc/spatial-filter.h"
-#include "proc/temporal-filter.h"
-#include "proc/hole-filling-filter.h"
-#include "proc/hdr-merge.h"
-#include "proc/sequence-id-filter.h"
 #include "std_msgs/Float32MultiArray.h"
+#include <src/depth-sensor.h>
 #include <src/core/pose-frame.h>
 #include <src/core/motion-frame.h>
 #include <src/core/video-frame.h>
 #include <src/color-sensor.h>
 
 #include <rsutils/string/from.h>
+#include <cstring>
 
 
 namespace librealsense
@@ -885,7 +878,13 @@ namespace librealsense
         {
             throw invalid_value_exception("Failed to get options interface from sensor snapshots");
         }
-        auto proccesing_blocks = read_proccesing_blocks(file, { get_device_index(), sensor_index }, time, options_api, file_version, pid, sensor_name);
+        auto proccesing_blocks = read_proccesing_blocks( file,
+                                                         { get_device_index(), sensor_index },
+                                                         time,
+                                                         options_api,
+                                                         file_version,
+                                                         pid,
+                                                         sensor_name );
         sensor_extensions[RS2_EXTENSION_RECOMMENDED_FILTERS] = proccesing_blocks;
     }
 
@@ -1002,8 +1001,14 @@ namespace librealsense
         return std::make_shared<recommended_proccesing_blocks_snapshot>(processing_blocks{});
     }
 
-    std::shared_ptr<recommended_proccesing_blocks_snapshot> ros_reader::read_proccesing_blocks(const rosbag::Bag& file, device_serializer::sensor_identifier sensor_id, const nanoseconds& timestamp,
-        std::shared_ptr<options_interface> options, uint32_t file_version, std::string pid, std::string sensor_name)
+    std::shared_ptr< recommended_proccesing_blocks_snapshot >
+    ros_reader::read_proccesing_blocks( const rosbag::Bag & file,
+                                        device_serializer::sensor_identifier sensor_id,
+                                        const nanoseconds & timestamp,
+                                        std::shared_ptr< options_interface > options,
+                                        uint32_t file_version,
+                                        std::string pid,
+                                        std::string sensor_name )
     {
         processing_blocks blocks;
         std::shared_ptr<recommended_proccesing_blocks_snapshot> res;
@@ -1027,8 +1032,8 @@ namespace librealsense
                 last_item = it++;
 
                 auto block = create_processing_block(*last_item, depth_to_disparity, options);
-                assert(block);
-                blocks.push_back(block);
+                if( block )
+                    blocks.push_back(block);
             }
 
             res = std::make_shared<recommended_proccesing_blocks_snapshot>(blocks);
@@ -1434,35 +1439,34 @@ namespace librealsense
         return std::make_pair(id, std::make_shared<const_value_option>(description, value));
     }
 
-    std::shared_ptr<librealsense::processing_block_interface> ros_reader::create_processing_block(const rosbag::MessageInstance& value_message_instance, bool& depth_to_disparity, std::shared_ptr<options_interface> options)
+    std::shared_ptr< librealsense::processing_block_interface >
+    ros_reader::create_processing_block( const rosbag::MessageInstance & value_message_instance,
+                                         bool & depth_to_disparity,
+                                         std::shared_ptr< options_interface > sensor_options )
     {
         auto processing_block_msg = instantiate_msg<std_msgs::String>(value_message_instance);
-        rs2_extension id;
-        convert(processing_block_msg->data, id);
-        std::shared_ptr<librealsense::processing_block_interface> disparity;
-
-        switch (id)
-        {
-        case RS2_EXTENSION_DECIMATION_FILTER:
-            return std::make_shared<ExtensionToType<RS2_EXTENSION_DECIMATION_FILTER>::type>();
-        case RS2_EXTENSION_THRESHOLD_FILTER:
-            return std::make_shared<ExtensionToType<RS2_EXTENSION_THRESHOLD_FILTER>::type>();
-        case RS2_EXTENSION_DISPARITY_FILTER:
-            disparity = std::make_shared<ExtensionToType<RS2_EXTENSION_DISPARITY_FILTER>::type>(depth_to_disparity);
-            depth_to_disparity = false;
-            return disparity;
-        case RS2_EXTENSION_SPATIAL_FILTER:
-            return std::make_shared<ExtensionToType<RS2_EXTENSION_SPATIAL_FILTER>::type>();
-        case RS2_EXTENSION_TEMPORAL_FILTER:
-            return std::make_shared<ExtensionToType<RS2_EXTENSION_TEMPORAL_FILTER>::type>();
-        case RS2_EXTENSION_HOLE_FILLING_FILTER:
-            return std::make_shared<ExtensionToType<RS2_EXTENSION_HOLE_FILLING_FILTER>::type>();
-        case RS2_EXTENSION_HDR_MERGE:
-            return std::make_shared<ExtensionToType<RS2_EXTENSION_HDR_MERGE>::type>();
-        case RS2_EXTENSION_SEQUENCE_ID_FILTER:
-            return std::make_shared<ExtensionToType<RS2_EXTENSION_SEQUENCE_ID_FILTER>::type>();
-        default:
-            return nullptr;
+        std::string name = processing_block_msg->data;
+        if( name == "Disparity Filter" )
+        {
+            // What was recorded was the extension type (without its settings!), but we need to create different
+            // variants. "Disparity Filter" gets recorded twice! This workaround ensures it's instantiated in its
+            // non-default flavor the second time:
+            if( depth_to_disparity )
+                depth_to_disparity = false;
+            else
+                name = "Disparity to Depth";
+        }
+        try
+        {
+            auto block = m_context->create_pp_block( name, {} );
+            if( ! block )
+                LOG_DEBUG( "unknown processing block '" << name << "'; ignored" );
+            return block;
+        }
+        catch( std::exception const & e )
+        {
+            LOG_DEBUG( "failed to create processing block '" << name << "': " << e.what() );
+            return {};
         }
     }
 

src/media/ros/ros_reader.h

@@ -115,7 +115,11 @@ namespace librealsense
         static std::pair<rs2_option, std::shared_ptr<librealsense::option>> create_property(const rosbag::MessageInstance& property_message_instance);
         /*Starting version 3*/
         static std::pair<rs2_option, std::shared_ptr<librealsense::option>> create_option(const rosbag::Bag& file, const rosbag::MessageInstance& value_message_instance);
-        static std::shared_ptr<processing_block_interface> create_processing_block(const rosbag::MessageInstance& value_message_instance, bool& depth_to_disparity, std::shared_ptr<options_interface> options);
+
+        std::shared_ptr< processing_block_interface >
+        create_processing_block( const rosbag::MessageInstance & value_message_instance,
+                                 bool & depth_to_disparity,
+                                 std::shared_ptr< options_interface > options );
 
         static notification create_notification(const rosbag::Bag& file, const rosbag::MessageInstance& message_instance);
         static std::shared_ptr<options_container> read_sensor_options(const rosbag::Bag& file, device_serializer::sensor_identifier sensor_id, const nanoseconds& timestamp, uint32_t file_version);

src/media/ros/ros_writer.cpp

@@ -492,11 +492,17 @@ namespace librealsense
         }
     }
 
-    rs2_extension ros_writer::get_processing_block_extension(const std::shared_ptr<processing_block_interface> block)
+    static std::string get_processing_block_extension_name( const std::shared_ptr< processing_block_interface > block )
     {
-#define RETURN_IF_EXTENSION(E, T)\
-    if (Is<ExtensionToType<T>::type>(E))\
-    return T;\
+        // We want to write the block name (as opposed to the extension name):
+        // The block can behave differently and have a different name based on how it was created (e.g., the disparity
+        // filter). This makes new rosbag files incompatible with older librealsense versions.
+        if( block->supports_info( RS2_CAMERA_INFO_NAME ) )
+            return block->get_info( RS2_CAMERA_INFO_NAME );
+
+#define RETURN_IF_EXTENSION( B, E )                                                                                    \
+    if( Is< ExtensionToType< E >::type >( B ) )                                                                        \
+        return rs2_extension_type_to_string( E )
 
         RETURN_IF_EXTENSION(block, RS2_EXTENSION_DECIMATION_FILTER);
         RETURN_IF_EXTENSION(block, RS2_EXTENSION_THRESHOLD_FILTER);
@@ -509,33 +515,29 @@ namespace librealsense
 
 #undef RETURN_IF_EXTENSION
 
-        throw invalid_value_exception( rsutils::string::from()
-                                       << "processing block " << block->get_info( RS2_CAMERA_INFO_NAME )
-                                       << "has no map to extension" );
+        return {};
     }
 
     void ros_writer::write_sensor_processing_blocks(device_serializer::sensor_identifier sensor_id, const nanoseconds& timestamp, std::shared_ptr<recommended_proccesing_blocks_interface> proccesing_blocks)
     {
-        rs2_extension ext = RS2_EXTENSION_UNKNOWN;
         for (auto block : proccesing_blocks->get_recommended_processing_blocks())
         {
+            std::string name = get_processing_block_extension_name( block );
+            if( name.empty() )
+            {
+                LOG_WARNING( "Failed to get recommended processing block name for sensor " << sensor_id.sensor_index );
+                continue;
+            }
             try
             {
-                try
-                {
-                    ext = get_processing_block_extension(block);
-                }
-                catch (std::exception& e)
-                {
-                    LOG_WARNING("Failed to write proccesing block " << " for sensor " << sensor_id.sensor_index << ". Exception: " << e.what());
-                }
                 std_msgs::String processing_block_msg;
-                processing_block_msg.data = rs2_extension_type_to_string(ext);
-                write_message(ros_topic::post_processing_blocks_topic(sensor_id), timestamp, processing_block_msg);
+                processing_block_msg.data = name;
+                write_message( ros_topic::post_processing_blocks_topic( sensor_id ), timestamp, processing_block_msg );
             }
-            catch (std::exception& e)
+            catch( std::exception & e )
             {
-                LOG_WARNING("Failed to get or write recommended proccesing blocks " << " for sensor " << sensor_id.sensor_index << ". Exception: " << e.what());
+                LOG_WARNING( "Failed to write processing block '" << name << "' for sensor " << sensor_id.sensor_index
+                                                                  << ": " << e.what() );
             }
         }
     }

src/media/ros/ros_writer.h

@@ -60,8 +60,6 @@ namespace librealsense
         void write_vendor_info(const std::string& topic, nanoseconds timestamp, std::shared_ptr<info_interface> info_snapshot);
         void write_sensor_option(device_serializer::sensor_identifier sensor_id, const nanoseconds& timestamp, rs2_option type, const librealsense::option& option);
         void write_sensor_options(device_serializer::sensor_identifier sensor_id, const nanoseconds& timestamp, std::shared_ptr<options_interface> options);
-
-        rs2_extension get_processing_block_extension(const std::shared_ptr<processing_block_interface> block);
         void write_sensor_processing_blocks(device_serializer::sensor_identifier sensor_id, const nanoseconds& timestamp, std::shared_ptr<recommended_proccesing_blocks_interface> proccesing_blocks);
 
         template <typename T>