remove operator () from processing interface API

common/model-views.cpp

@@ -1413,7 +1413,7 @@ namespace rs2
             {
                 if (viewer.synchronization_enable && (!viewer.is_3d_view || viewer.is_3d_depth_source(f) || viewer.is_3d_texture_source(f)))
                 {
-                    viewer.s(f);
+                    viewer.s.invoke(f);
                 }
                 else
                 {

examples/align/rs-align.cpp

@@ -103,7 +103,7 @@ int main(int argc, char * argv[]) try
         pip_stream.y = altered_other_frame_rect.y + altered_other_frame_rect.h - pip_stream.h - (std::max(w, h) / 25);
 
         // Render depth (as picture in pipcture)
-        renderer.upload(c(aligned_depth_frame));
+        renderer.upload(c.process(aligned_depth_frame));
         renderer.show(pip_stream);
 
         // Using ImGui library to provide a slide controller to select the depth clipping distance

examples/capture/rs-capture.cpp

@@ -26,7 +26,7 @@ int main(int argc, char * argv[]) try
     {
         rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
 
-        rs2::frame depth = color_map(data.get_depth_frame()); // Find and colorize the depth data
+        rs2::frame depth = color_map.process(data.get_depth_frame()); // Find and colorize the depth data
         rs2::frame color = data.get_color_frame();            // Find the color data
 
         // For cameras that don't have RGB sensor, we'll render infrared frames instead of color

examples/multicam/rs-multicam.cpp

@@ -108,7 +108,7 @@ class device_container
                 {
                     rs2::frame new_frame = frameset[i];
                     int stream_id = new_frame.get_profile().unique_id();
-                    view.second.frames_per_stream[stream_id] = view.second.colorize_frame(new_frame); //update view port with the new stream
+                    view.second.frames_per_stream[stream_id] = view.second.colorize_frame.process(new_frame); //update view port with the new stream
                 }
             }
         }

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

@@ -232,7 +232,7 @@ void update_data(rs2::frame_queue& data, rs2::frame& colorized_depth, rs2::point
     if (data.poll_for_frame(&f))  // Try to take the depth and points from the queue
     {
         points = pc.calculate(f); // Generate pointcloud from the depth data
-        colorized_depth = color_map(f);     // Colorize the depth frame with a color map
+        colorized_depth = color_map.process(f);     // Colorize the depth frame with a color map
         pc.map_to(colorized_depth);         // Map the colored depth to the point cloud
         view.tex.upload(colorized_depth);   //  and upload the texture to the view (without this the view will be B&W)
     }

examples/record-playback/rs-record-playback.cpp

@@ -69,7 +69,7 @@ int main(int argc, char * argv[]) try
         if (!device.as<rs2::playback>())
         {
             frames = pipe->wait_for_frames(); // wait for next set of frames from the camera
-            depth = color_map(frames.get_depth_frame()); // Find and colorize the depth data
+            depth = color_map.process(frames.get_depth_frame()); // Find and colorize the depth data
         }
 
         // Set options for the ImGui buttons
@@ -164,7 +164,7 @@ int main(int argc, char * argv[]) try
             rs2::playback playback = device.as<rs2::playback>();
             if (pipe->poll_for_frames(&frames)) // Check if new frames are ready
             {
-                depth = color_map(frames.get_depth_frame()); // Find and colorize the depth data for rendering
+                depth = color_map.process(frames.get_depth_frame()); // Find and colorize the depth data for rendering
             }
 
             // Render a seek bar for the player

examples/save-to-disk/rs-save-to-disk.cpp

@@ -38,7 +38,7 @@ int main(int argc, char * argv[]) try
         {
             auto stream = frame.get_profile().stream_type();
             // Use the colorizer to get an rgb image for the depth stream
-            if (vf.is<rs2::depth_frame>()) vf = color_map(frame);
+            if (vf.is<rs2::depth_frame>()) vf = color_map.process(frame);
 
             // Write images to disk
             std::stringstream png_file;

examples/sensor-control/helper.h

@@ -81,7 +81,7 @@ namespace helper
                     {
                         try
                         {
-                            renderer.render(colorize(decimate.process(frame)), { 0, 0, view_width, view_height });
+                            renderer.render(colorize.process(decimate.process(frame)), { 0, 0, view_width, view_height });
                         }
                         catch (const std::exception& e)
                         {

include/librealsense2/hpp/rs_frame.hpp

@@ -291,7 +291,6 @@ namespace rs2
     public:
         virtual rs2::frame process(rs2::frame frame) const = 0;
         virtual rs2_processing_block* get() const = 0;
-        virtual rs2::frame operator()(frame f) const = 0;
         virtual ~process_interface() = default;
     };
 

include/librealsense2/hpp/rs_processing.hpp

@@ -257,13 +257,6 @@ namespace rs2
             return f;
         }
         /**
-        * Does the same thing as "process" function
-        */
-        rs2::frame operator()(frame f) const override
-        {
-            return process(std::move(f));
-        }
-        /**
         * constructor with already created low level processing block assigned.
         *
         * \param[in] block - low level rs2_processing_block created before.
@@ -368,15 +361,6 @@ namespace rs2
         * Real asynchronous syncer within syncer class
         */
         asynchronous_syncer() : processing_block(init(), 1) {}
-        /**
-        * Start and set the callback when the synchronization is done.
-        * \param[in] on_frame - callback function, will be invoked when synchronization is finished.
-        */
-        template<class S>
-        void start(S on_frame)
-        {
-            start(on_frame);
-        }
 
     private:
         std::shared_ptr<rs2_processing_block> init()
@@ -401,7 +385,6 @@ namespace rs2
             :_results(queue_size)
         {
             _sync.start(_results);
-
         }
 
         /**
@@ -449,7 +432,7 @@ namespace rs2
 
         void operator()(frame f) const
         {
-            _sync(std::move(f));
+            _sync.invoke(std::move(f));
         }
     private:
         asynchronous_syncer _sync;

src/proc/pointcloud.cpp

@@ -74,6 +74,7 @@ namespace librealsense
             _depth_intrinsics = optional_value<rs2_intrinsics>();
             _depth_units = optional_value<float>();
             _extrinsics = optional_value<rs2_extrinsics>();
+            _other_stream = nullptr;
         }
 
         bool found_depth_intrinsics = false;
@@ -123,7 +124,8 @@ namespace librealsense
 
         if (!_other_stream.get())
         {
-            _other_stream = std::make_shared<rs2::video_stream_profile>(other.get_profile().as<rs2::video_stream_profile>());
+            auto osp = other.get_profile().as<rs2::video_stream_profile>();
+            _other_stream = std::make_shared<rs2::video_stream_profile>(osp.clone(osp.stream_type(), osp.stream_index(), osp.format()));
             _other_intrinsics = optional_value<rs2_intrinsics>();
             _extrinsics = optional_value<rs2_extrinsics>();
         }

tools/convert/converters/converter-png.hpp

@@ -46,7 +46,7 @@ namespace rs2 {
                                     }
 
                                     if (frame.get_profile().stream_type() == rs2_stream::RS2_STREAM_DEPTH) {
-                                        frame = _colorizer(frame);
+                                        frame = _colorizer.process(frame);
                                     }
 
                                     std::stringstream filename;