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.
``datafilter`` is loaded by the ``nvds3dfilter`` `Gst-plugin`. It could be used for 2D depth data processing , 3D point-cloud data extraction from depth and other 2D-depth or 3D-points data filters.
``datarender`` is loaded by ``GstAppSink``. It could be used for 2D depth rendering and 3D point-cloud data rendering.

``deepstream-3d-depth-camera`` 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 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

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 for Common header:
  ::

    name: depth-point-render
    type: ds3d::datarender
    in_caps: ds3d/datamap
    custom_lib_path: libnvds_3d_gl_datarender.so

Configuration for Body 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 for Point Render Header:

::

    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 for Body 3D Point Render Specific 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 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 for Depth and Color 2D Render Header:

::

    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 for Body 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

Intrinsic Parameters in Configuration body:

.. 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

Extrinsic Parameters in Configuration body:

.. 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