DeepStream 3D Custom Manual
========================================
New ``ds3d`` framework, interfaces and custom-libs are defined for DS 3D processing. These interfaces are capble of different types of data fusion and can implement different types of custom libraries for ``dataloader``, ``datafilter`` and ``datarender``. The interface has ABI compatible layers and modern C++ interface layers. You'll only need to focus on the modern interface for application or custom lib development.
DeepStream 3D ``dataloader`` is loaded by ``GstAppSrc``. It could be used for depth camera such as stereo cameras, Time-of-Flight cameras to capture image/depth data or 2D/3D data-load from the source file., It also could be used for lidar data sensor or lidar data file capture.
``datafilter`` is loaded by the ``nvds3dfilter`` `Gst-plugin`. It could be used for 2D depth data processing , 3D point-cloud data extraction from depth, other 2D-depth or 3D-points data filters and lidar or 3D data inference.
``datarender`` is loaded by ``GstAppSink``. It could be used for 2D depth rendering and 3D point-cloud and lidar data rendering. It also could be used for file dump.
DS3D Application Examples
---------------------------
* ``deepstream-lidar-inference`` has the sample code to load these custom libs and to connect these components together in simple ways. Besides that, DS3D has a simple C++ safe pointer for `Gstreamer` components. The interfaces are found in header files located at ``/opt/nvidia/deepstream/deepstream/sources/libs/ds3d/gst/``.
The image below shows the overview of lidar 3D data inference and rendering pipeline in ``deepstream-lidar-inference``.
.. image:: /content/DS_3D_lidar_inference_pointcloud_render.png
:align: center
:alt: DeepStream Lidar point cloud inference and rendering overview
See more details in the :doc:`DS_3D_Lidar_Inference`.
* ``deepstream-3d-depth-camera`` is another example for ds3d pipeline.
The image below shows the overview of depth to 3D point processing pipeline in ``deepstream-3d-depth-camera``.
.. image:: /content/DS_3D_depth_camera_3d_points_process.png
:align: center
:alt: DeepStream Depth Camera for 3D point cloud processing overview
See more details in the :doc:`DS_3D_Depth_Camera`.
All the components are configured in YAML format. They are loaded by `Gst-plugins`.There are 3 major components, they may all be loaded into the deepstream pipeline.
``ds3d::dataloader`` - Load Custom Lib for Data Capture
---------------------------------------------------------
Load and Manage Dataloader
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Examples:
::
name: realsense_dataloader
type: ds3d::dataloader
out_caps: ds3d/datamap
custom_lib_path: libnvds_3d_dataloader_realsense.so
custom_create_function: createRealsenseDataloader
config_body:
streams: [color, depth]
A custom `dataloader` must have ``type: ds3d::dataloader``. It is created by explicit call of ``NvDs3D_CreateDataLoaderSrc(srcConfig, loaderSrc, start)`` with the full compoment YAML content. During this call, the ``custom_lib_path`` is loaded and a specific data loader is created via ``custom_create_function``. A `GstAppsrc` object is also created into ``loaderSrc.gstElement``.
`GstAppsrc` manages the `ds3d::dataloader` dataflows. This ``ds3d::dataloader`` component could be started automatically by `gst-pipeline` or manually by the application call.
::
GuardDataLoader dataloader = loaderSrc.customProcessor;
ErrCode c = dataloader.start();
To stop the `dataloader`, user can set `GstAppsrc` states to ``GST_STATE_READY`` or stop it manually.
::
GuardDataLoader dataloader = loaderSrc.customProcessor;
ErrCode c = dataloader.stop();
Dataloader in User Application
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Examples:
::
#include <ds3d/common/hpp/dataloader.hpp>
GuardDataLoader dataLoader;
dataLoader.reset(createTestTimeDataloader()); # create a specific ABI
ErrCode c = dataloader.setErrorCallback([](ErrCode c, const char*){});
c = dataloader.start(yamlconfig); // check result.
while(isGood(c)) {
GuardDataMap data;
c = dataloader.readData(data);
// process data
}
c = dataloader.flush();
c = dataloader.stop();
``GuardDataLoader`` provides safe access to ``abiDataLoader``. Once it's created, it will maintain the reference pointer to the `dataloader`.
Implement a Custom Dataloader
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Examples:
::
#include <ds3d/common/impl/impl_dataloader.h>
class TestTimeDataLoader : public ds3d::impl::SyncImplDataLoader {
public:
TestTimeDataLoader() = default;
protected:
ErrCode startImpl(const std::string& content, const std::string& path) override
{
setOutputCaps("ds3d/datamap");
return ErrCode::kGood;
}
ErrCode readDataImpl(GuardDataMap& datamap) override
{
datamap.reset(NvDs3d_CreateDataHashMap());
static uint64_t iTime = 0;
TimeStamp t{iTime++, 0, 0};
datamap.setData("time", t);
emitError(ErrCode::kGood, "timstamp added");
return ErrCode::kGood;
}
ErrCode stopImpl() override { return ErrCode::kGood; }
ErrCode flushImpl() override { return ErrCode::kGood; }
};
DS3D_EXTERN_C_BEGIN
DS3D_EXPORT_API abiRefDataLoader*
createTestTimeDataloader()
{
return NewAbiRef<abiDataLoader>(new TestTimeDataLoader);
}
DS3D_EXTERN_C_END
A shown in the example above, You'll need to derive `dataloader` from the ``ds3d::impl::SyncImplDataLoader`` class, and implement interfaces for the following:
::
ErrCode startImpl(const std::string& content, const std::string& path) override;
ErrCode readDataImpl(GuardDataMap& datamap) override;
ErrCode stopImpl() override;
ErrCode flushImpl() override;
To load this custom lib through ``NvDs3D_CreateDataLoaderSrc``, you'll also need to export ``createTestTimeDataloader``.
``ds3d::datafilter``- Loads Custom Lib for Input and Output Processing
-----------------------------------------------------------------------
Load And Manage Datafilter
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Examples:
::
name: point2cloud_datafilter
type: ds3d::datafilter
in_caps: ds3d/datamap
out_caps: ds3d/datamap
custom_lib_path: libnvds_3d_depth2point_datafilter.so
custom_create_function: createDepth2PointFilter
config_body:
A custom `datafilter` must have ``type: ds3d::datafilter``. It is loaded through the ``nvds3dfilter`` `Gst-plugin`. It is started by ``gst_element_set_state(GST_STATE_READY)``. During this call, the ``custom_lib_path`` is loaded and a specific data filter is created by ``custom_create_function``. ``nvds3dfilter`` `Gst-plugin` has ``config-content`` and ``config-file`` properties. One of them must be set to create a `datafilter` object.
Datafilter in User Application
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Examples:
::
#include <ds3d/common/hpp/datafilter.hpp>
GuardDataFilter datafilter;
datafilter.reset(createTestFakeDatafilter()); # create a specific ABI
ErrCode c = datafilter.setErrorCallback([](ErrCode c, const char*){});
c = datafilter.start(yamlconfig); // check result.
int consumedNum = 0;
auto dataConsumed = [&consumedNum](ErrCode c, const abiRefDataMap* data) {
if (isGood(c)) {
++consumedNum;
}
};
for (int i = 0; i < 100; ++i) {
TimeStamp t{i, 0, 0};
GuardDataMap dataIn;
dataIn.reset(NvDs3d_CreateDataHashMap());
dataIn.setData("time", t);
GuardDataMap dataOut;
ErrCode cbCode = ErrCode::kGood;
auto outputCB = [&dataOut, &cbCode](ErrCode c, const abiRefDataMap* data) {
cbCode = c;
if (data) {
GuardDataMap newData(*data);
dataOut = newData;
}
};
c = dataFilter.process(dataIn, dataConsumed, outputCB);
}
c = datafilter.flush();
c = datafilter.stop();
``GuardDataFilter`` provides safe access to the ``abiDataFilter``. Once it's created, it will maintain the reference pointer to `datafilter`.
Implement a Custom Datafilter
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Examples:
::
#include <ds3d/common/impl/impl_datafilter.h>
class TestFakeDataFilter : public impl::BaseImplDataFilter {
public:
TestFakeDataFilter() = default;
protected:
ErrCode startImpl(const std::string& content, const std::string& path) override
{
setInputCaps(kFakeCapsMetaName);
setOutputCaps(kFakeCapsMetaName);
return ErrCode::kGood;
}
ErrCode processImpl(
GuardDataMap datamap, OnGuardDataCBImpl outputDataCb,
OnGuardDataCBImpl inputConsumedCb) override
{
DS_ASSERT(datamap);
TimeStamp t;
ErrCode c = datamap.getData("time", t);
if (!isGood(c)) {
return c;
}
t.t0 += 1;
inputConsumedCb(ErrCode::kGood, datamap);
c = datamap.setData("time", t);
if (!isGood(c)) {
return c;
}
outputDataCb(ErrCode::kGood, datamap);
return ErrCode::kGood;
}
ErrCode flushImpl() override { return ErrCode::kGood; }
ErrCode stopImpl() override { return ErrCode::kGood; }
};
DS3D_EXTERN_C_BEGIN
DS3D_EXPORT_API abiRefdatafilter*
createTestFakeDatafilter()
{
return NewAbiRef<abidatafilter>(new TestFakeDataFilter);
}
DS3D_EXTERN_C_END
As shown in the example above, you'll need to derive the `datafilter` from the ``ds3d::impl::BaseImplDataFilter`` class, and implement interfaces for the following:
::
ErrCode startImpl(const std::string& content, const std::string& path) override;
ErrCode processImpl(
GuardDataMap datamap, OnGuardDataCBImpl outputDataCb,
OnGuardDataCBImpl inputConsumedCb) override;
ErrCode stopImpl() override;
ErrCode flushImpl() override;
To load this custom lib through ``nvds3dfilter`` `Gst-plugin`, you'll also need to export a specific symbol ``createTestFakeDatafilter``.
``ds3d::datarender`` - Loads Custom Lib for Data Rendering
------------------------------------------------------------------
Load And Manage Datarender
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Examples:
::
name: point-render
type: ds3d::datarender
in_caps: ds3d/datamap
custom_lib_path: libnvds_3d_gl_datarender.so
custom_create_function: createPointCloudDataRender
config_body:
title: ds3d-point-cloud-test
A custom `datarender` must have ``type: ds3d::datarender``. It is created by explicit call of ``NvDs3D_CreateDataRenderSink(sinkConfig, renderSink, start)`` with the full compoment YAML content. During this call, the ``custom_lib_path`` is loaded and a specific data loader is created via ``custom_create_function``. A `GstAppsink` object is also created into ``renderSink.gstElement``.
`GstAppsink` manages the `ds3d::datarender` dataflows. This `ds3d::datarender` component could be automatically started by the `gst-pipeline`, or manually by the application call.
::
GuardDataRender datarender = renderSink.customProcessor;
ErrCode c = datarender.start();
To stop the `datarender`, you can set `GstAppsink` states to ``GST_STATE_READY``, or stop manually.
::
GuardDataRender datarender = renderSink.customProcessor;
ErrCode c = datarender.stop();
Datarender in User Application
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Examples:
::
#include <ds3d/common/hpp/datarender.hpp>
GuardDataRender datarender;
datarender.reset(createTestFakedatarender());
ErrCode c = datarender.setErrorCallback([](ErrCode c, const char*){});
c = datarender.start(yamlconfig); // check result.
for (int i = 0; i < 100; ++i) {
static uint64_t iTime = 0;
TimeStamp t{iTime++, 0, 0};
GuardDataMap datamap;
datamap.reset(NvDs3d_CreateDataHashMap());
ASSERT_TRUE(datamap);
datamap.setData("time", t);
if (i == 0) {
c = dataRender.preroll(datamap);
}
ErrCode c = dataRender.render(datamap, dataRenderd);
}
c = datarender.flush();
c = datarender.stop();
``GuardDataRender`` provides safe access to ``abidatarender``. Once it's created, it will maintain the reference pointer to datarender. ``preroll`` is called only once to initialize some resources.
Implement a Custom Datarender
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Examples:
::
#include <ds3d/common/impl/impl_datarender.h>
class TestFakeDataRender : public impl::BaseImplDataRender {
public:
TestFakeDataRender() = default;
protected:
ErrCode startImpl(const std::string& content, const std::string& path) override
{
setInputCaps("ds3d/datamap");
return ErrCode::kGood;
}
ErrCode prerollImpl(GuardDataMap datamap) override { return ErrCode::kGood; }
ErrCode renderImpl(GuardDataMap datamap, OnGuardDataCBImpl dataDoneCb) override
{
DS_ASSERT(datamap);
emitError(ErrCode::kGood, "data rendered");
dataDoneCb(ErrCode::kGood, datamap);
return ErrCode::kGood;
}
ErrCode flushImpl() override { return ErrCode::kGood; }
ErrCode stopImpl() override { return ErrCode::kGood; }
};
DS3D_EXTERN_C_BEGIN
DS3D_EXPORT_API abiRefdatarender*
createTestFakedatarender()
{
return NewAbiRef<abiDataRender>(new TestFakeDataRender());
}
DS3D_EXTERN_C_END
As shown in the example above, you'll need to derive `datarender` from the ``ds3d::impl::BaseImplDataRender`` class, and implement interfaces for the following:
::
ErrCode startImpl(const std::string& content, const std::string& path) override;
ErrCode prerollImpl(GuardDataMap datamap) override;
ErrCode renderImpl(GuardDataMap datamap, OnGuardDataCBImpl dataDoneCb) override;
ErrCode stopImpl() override;
ErrCode flushImpl() override;
To load this custom lib through ``NvDs3D_CreateDataRenderSink``, you'll also need to export a specific symbol ``createTestFakedatarender``.
DS3D ``GuardDataMap`` Buffer Management
-------------------------------------------------
DS3D Data Map Read
^^^^^^^^^^^^^^^^^^^^^^^^^
DS3D defines class objects ``ds3d::abiRefDataMap``. All internal data are hash and stored into this data map. ``NvDs3DBuffer`` is defined to store the 3D datamap into `GstBuffer`. Header file is ``nvds3d_meta.h``.
::
struct NvDs3DBuffer {
uint32_t magicID; // must be 'DS3D'
ds3d::abiRefDataMap* datamap;
};
.. Warning::
Do not use the `datamap` directly. The easy and safe way to access that is through ``GuardDataMap``. See sample code in :doc: `DS_3D_Depth_Camera`.
Example:
::
#include <ds3d/common/hpp/datamap.hpp>
#include <ds3d/common/hpp/frame.hpp>
if (NvDs3D_IsDs3DBuf(gstBuf)) {
const abiRefDataMap* refDataMap = nullptr;
ErrCode c = NvDs3D_Find1stDataMap(gstBuf, refDataMap);
... // check error code
if (refDataMap) {
GuardDataMap dataMap(*refDataMap);
FrameGuard pointFrame;
c = dataMap.getGuardData(kPointXYZ, pointFrame); // get 3D points reference.
... // check error code
FrameGuard uvCoord;
c = dataMap.getGuardData(kPointCoordUV, uvCoord); // get 3D points UV coordinates reference.
... // check error code
Frame2DGuard depthFrame;
c = dataMap.getGuardData(kDepthFrame, depthFrame); // get depth frame reference.
... // check error code
DepthScale scale;
c = dataMap.getData(kDepthScaleUnit, scale); // copy depth scale
... // check error code
}
}
DS3D Data Map Write
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Create an empty `datamap`, store some frames into this `datamap`.
Example:
::
#include <ds3d/common/hpp/datamap.hpp>
#include <ds3d/common/hpp/frame.hpp>
#include <ds3d/common/impl/impl_frames.h>
GuardDataMap datamap(NvDs3d_CreateDataHashMap(), true); // set true to take the reference ownership.
/* Create depth frame and store them into ds3d datamap. */
// Assume depth datatype: Uint16
{
Frame2DPlane depthPlane = {640, 480, 640 * sizeof(uint16_t) , sizeof(uint16_t), 0};
uint32_t depthBytesPerFrame = depthPlane.pitchInBytes * depthPlane.height;
std::vector<uint8_t> data(depthBytesPerFrame); // Depth data
void* dataPtr = &data[0];
// create depth 2D frame
Frame2DGuard depthFrame = Wrap2DFrame<uint16_t, FrameType::kDepth>(
dataPtr, depthPlane}, depthBytesPerFrame, MemType::kCpu, 0,
[data = std::move(data)](void*) {});
c = datamap.setGuardData(kDepthFrame, depthFrame); // store depthFrame reference into datamap.
... // check error code
DepthScale scale{0.001, {nullptr}}; //
c = datamap.setData(kDepthScaleUnit, scale); // copy depth scale into datamap.
... // check error code
}
/* Create color image frame and store them into ds3d datamap. */
// Assume format is RGBA
{
Frame2DPlane colorPlane = {1920, 1080, 1920 * sizeof(uint8_t) , sizeof(uint8_t), 0};
uint32_t colorBytesPerFrame = colorPlane.pitchInBytes * colorPlane.height;
std::vector<uint8_t> data(colorBytesPerFrame); // Image data
void* dataPtr = &data[0];
// create color 2D frame
Frame2DGuard frame = Wrap2DFrame<uint8_t, FrameType::kColorRGBA>(
dataPtr, {_config.colorPlane}, bytesPerFrame, MemType::kCpu, 0,
[data = std::move(data)](void*) {});
c = datamap.setGuardData(kColorFrame, colorFrame); // store colorFrame reference into datamap.
... // check error code
}
/* Create 3D points frame and store them into ds3d datamap. */
{
uint32_t pointNum = 640 * 480;
std::vector<vec3f> points(pointNum); // 3D points data
vec3f* pointPtr = &points[0];
FrameGuard pointsFrame = wrapPointXYZFrame<float>(
(void*)pointPtr, pointNum, MemType::kCpu, 0, [points = std::move(points)](void*) {});
c = datamap.setGuardData(kPointXYZ, pointXyzFrame); // store 3d-points XYZ data reference into datamap.
... // check error code
std::vector<vec3f> uvData(pointNum); // 3D points data
vec3f* uvPtr = &data[0];
FrameGuard pointUvCoord = wrapPointCoordUVFrame<float>(
(void*)uvPtr, pointNum, MemType::kCpu, 0, [uvData = std::move(uvData)](void*) {});
c = datamap.setGuardData(kPointCoordUV, pointUvCoord); // store 3d-points UV coordinate data reference into datamap.
... // check error code
}
The example below shows how to Create a new `GstBuffer` with ``ds3d`` `datamap`.
::
// Assume ``GuardDataMap datamap`` is ready
GstBuffer* gstBuf = nullptr;
ErrCode c = NvDs3D_CreateGstBuf(gstBuf, datamap.abiRef(), false); // set false to increase reference count.
... // check error code
Example below shows how to update an existing ``DS3D`` `GstBuffer` with new ``ds3d`` `datamap`.
::
// Assume ``GuardDataMap datamap`` is ready
// Assume ``GstBuffer* gstBuf`` is created by another compoment
ErrCode c = NvDs3D_UpdateDataMap(gstBuf, datamap.abiRef(), false); // set false to increase reference count.
... // check error code
Custom Libs Configuration Specifications
---------------------------------------------------------
Components Common Configuration Specifications
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
.. csv-table:: ds3d common configuration specifications
:file: ../text/tables/DS_3D tables/DS_3D_common_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1
libnvds_3d_dataloader_realsense Configuration Specifications
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Configuration for `Realsense` `Dataloader` Header:
::
name: realsense_dataloader
type: ds3d::dataloader
out_caps: ds3d/datamap
custom_lib_path: libnvds_3d_dataloader_realsense.so
custom_create_function: createRealsenseDataloader
``libnvds_3d_dataloader_realsense.so`` requires you to install `librealsense2` SDK. For x86, follow the instructions from https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md.
For Jetson platform, follow the instructions from https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md.
.. csv-table:: libnvds_3d_dataloader_realsense ``config_body`` fields
:file: ../text/tables/DS_3D tables/DS_3D_libnvds_3d_dataloader_realsense_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1
libnvds_3d_depth2point_datafilter Configuration Specifications
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Configuration for Depth to Points Header:
::
name: depth2points
type: ds3d::datafilter
in_caps: ds3d/datamap
out_caps: ds3d/datamap
custom_lib_path: libnvds_3d_depth2point_datafilter.so
custom_create_function: createDepth2PointFilter
.. csv-table:: libnvds_3d_depth2point_datafilter ``config_body`` fields
:file: ../text/tables/DS_3D tables/DS_3D_libnvds_3d_depth2point_datafilter_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1
libnvds_3d_gl_datarender Configuration Specifications
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Configuration Common header for `libnvds_3d_gl_datarender`:
::
name: depth-point-render
type: ds3d::datarender
in_caps: ds3d/datamap
custom_lib_path: libnvds_3d_gl_datarender.so
Configuration Body for Common Part:
.. csv-table:: libnvds_3d_gl_datarender ``config_body`` common fields
:file: ../text/tables/DS_3D tables/DS_3D_libnvds_3d_gl_datarender_common_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1
Configuration Header for Point Cloud Render:
::
name: point-3D-render
type: ds3d::datarender
in_caps: ds3d/datamap
custom_lib_path: libnvds_3d_gl_datarender.so
custom_create_function: createPointCloudDataRender # specific function for 3D point rendering
Configuration Header for Lidar data Render:
::
name: lidar-data-render
type: ds3d::datarender
in_caps: ds3d/datamap
custom_lib_path: libnvds_3d_gl_datarender.so
custom_create_function: createLidarDataRender # specific function for Lidar point cloud rendering
Configuration Body for 3D Point Cloud and Lidar Render Part:
For more details on 3D coordinate system, refer to https://learnopengl.com/Getting-started/Coordinate-Systems.
To know the value meanings for ``view_position``, ``view_target`` and ``view_up``,refer to the ``gluLookAt`` here: https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluLookAt.xml.
To know the value meanings for ``near``, ``far`` and ``fov``, refer to the ``gluPerspective`` here: https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluPerspective.xml.
.. csv-table:: libnvds_3d_gl_datarender Point Cloud Render ``config_body`` Fields
:file: ../text/tables/DS_3D tables/DS_3D_libnvds_3d_gl_datarender_point_cloud_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1
Configuration Body for Lidar Render Specific Part:
.. csv-table:: libnvds_3d_gl_datarender Lidar Render extra ``config_body`` Fields
:file: ../text/tables/DS_3D tables/DS_3D_libnvds_3d_gl_datarender_lidar_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1
Configuration Header for Depth and Color 2D Render:
::
name: depth-2D-render
type: ds3d::datarender
in_caps: ds3d/datamap
custom_lib_path: libnvds_3d_gl_datarender.so
custom_create_function: createDepthStreamDataRender # specific function for 2D depth rendering
Configuration Body for Depth and Color 2D Specific Part:
.. csv-table:: libnvds_3d_gl_datarender 2D Depth Render ``config_body`` Fields
:file: ../text/tables/DS_3D tables/DS_3D_libnvds_3d_gl_datarender_depth_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1
libnvds_3d_depth_datasource Depth file source Specific Configuration Specifications
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Configuration header:
::
name: depthfilesource
type: ds3d::dataloader
out_caps: ds3d/datamap, framerate=30/1
custom_lib_path: libnvds_3d_depth_datasource.so
custom_create_function: createDepthColorLoader
Configuration body:
.. csv-table:: libnvds_3d_depth_datasource Depth file source ``config_body`` Fields
:file: ../text/tables/DS_3D tables/DS_3D_libnvds_3d_depth_datasource_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1
Configuration Body for Intrinsic Parameters :
.. csv-table:: libnvds_3d_depth_datasource Intrinsic Parameters in Depth file source ``config_body`` Fields
:file: ../text/tables/DS_3D tables/DS_3D_libnvds_3d_depth_datasource_intrinsic_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1
Configuration Body for Extrinsic Parameters:
.. csv-table:: libnvds_3d_depth_datasource Extrinsic Parameters in Depth file source ``config_body`` Fields
:file: ../text/tables/DS_3D tables/DS_3D_libnvds_3d_depth_datasource_extrinsic_config_settings.csv
:widths: 20, 20, 20, 40
:header-rows: 1