4 #ifndef LIBREALSENSE_RS2_FRAME_HPP
5 #define LIBREALSENSE_RS2_FRAME_HPP
14 class processing_block;
18 class pipeline_profile;
20 class video_stream_profile;
115 std::stringstream ss;
131 operator bool()
const {
return _profile !=
nullptr; }
181 explicit operator std::shared_ptr<rs2_stream_profile>() {
return _clone; }
190 std::shared_ptr<rs2_stream_profile>
_clone;
373 other.frame_ref =
nullptr;
375 frame_number = other.frame_number;
376 profile = other.profile;
394 : frame_ref(other.frame_ref)
398 frame_number = other.frame_number;
399 profile = other.profile;
408 std::swap(frame_ref, other.frame_ref);
411 std::swap(frame_number, other.frame_number);
412 std::swap(profile, other.profile);
436 operator bool()
const {
return frame_ref !=
nullptr; }
625 unsigned long long frame_number = 0;
705 operator const float*()
const {
return &
x; }
709 operator const float*()
const {
return &
u; }
749 return (
const vertex*)res;
760 std::swap(texture.frame_ref, ptr);
884 auto data =
reinterpret_cast<const float*
>(
get_data());
885 return rs2_vector{ data[0], data[1], data[2] };
961 result = std::move(frm);
975 if (!frm)
throw error(
"Frame of requested stream type was not found!");
1087 auto count =
size();
1088 for (
size_t i = 0; i < count; i++)
1093 action(
frame(fref));
1111 throw error(
"Requested index is out of range!");
1114 class iterator :
public std::iterator<std::forward_iterator_tag, frame>
1137 T on_frame_function;
1143 on_frame_function(
frame{ fref });
Definition: rs_frame.hpp:787
float get_units() const
Definition: rs_frame.hpp:822
float get_distance(int x, int y) const
Definition: rs_frame.hpp:810
depth_frame(const frame &f)
Definition: rs_frame.hpp:793
Definition: rs_frame.hpp:832
disparity_frame(const frame &f)
Definition: rs_frame.hpp:838
float get_baseline(void) const
Definition: rs_frame.hpp:852
Definition: rs_types.hpp:93
static void handle(rs2_error *e)
Definition: rs_types.hpp:144
Definition: rs_frame.hpp:330
virtual rs2::frame process(rs2::frame frame) const =0
virtual ~filter_interface()=default
Definition: rs_processing.hpp:344
rs2::frame process(rs2::frame frame) const override
Definition: rs_processing.hpp:352
Definition: rs_frame.hpp:1136
void release() override
Definition: rs_frame.hpp:1146
void on_frame(rs2_frame *fref) override
Definition: rs_frame.hpp:1141
frame_callback(T on_frame)
Definition: rs_frame.hpp:1139
Definition: rs_processing.hpp:135
Definition: rs_processing.hpp:19
Definition: rs_frame.hpp:337
void reset()
Definition: rs_frame.hpp:604
frame(rs2_frame *ref)
Definition: rs_frame.hpp:347
rs2_timestamp_domain get_frame_timestamp_domain() const
Definition: rs_frame.hpp:478
double get_timestamp() const
Definition: rs_frame.hpp:467
frame(frame &&other) noexcept
Definition: rs_frame.hpp:371
const void * get_data() const
Definition: rs_frame.hpp:538
rs2_sensor * get_sensor()
Definition: rs_frame.hpp:438
frame()
Definition: rs_frame.hpp:342
frame(const frame &other)
Definition: rs_frame.hpp:393
void keep()
Definition: rs_frame.hpp:430
void swap(frame &other)
Definition: rs_frame.hpp:406
frame apply_filter(filter_interface &filter)
Definition: rs_frame.hpp:586
~frame()
Definition: rs_frame.hpp:419
rs2_frame * get() const
Definition: rs_frame.hpp:583
rs2_metadata_type get_frame_metadata(rs2_frame_metadata_value frame_metadata) const
Definition: rs_frame.hpp:490
bool is() const
Definition: rs_frame.hpp:563
frame & operator=(frame other)
Definition: rs_frame.hpp:383
stream_profile get_profile() const
Definition: rs_frame.hpp:550
bool supports_frame_metadata(rs2_frame_metadata_value frame_metadata) const
Definition: rs_frame.hpp:502
const int get_data_size() const
Definition: rs_frame.hpp:526
T as() const
Definition: rs_frame.hpp:573
unsigned long long get_frame_number() const
Definition: rs_frame.hpp:514
void add_ref() const
Definition: rs_frame.hpp:597
Definition: rs_frame.hpp:1115
bool operator!=(const iterator &other) const
Definition: rs_frame.hpp:1120
bool operator==(const iterator &other) const
Definition: rs_frame.hpp:1119
iterator(const frameset *owner, size_t index=0)
Definition: rs_frame.hpp:1117
frame operator*()
Definition: rs_frame.hpp:1122
iterator & operator++()
Definition: rs_frame.hpp:1118
Definition: rs_frame.hpp:921
frame first_or_default(rs2_stream s, rs2_format f=RS2_FORMAT_ANY) const
Definition: rs_frame.hpp:955
pose_frame get_pose_frame(const size_t index=0) const
Definition: rs_frame.hpp:1053
video_frame get_fisheye_frame(const size_t index=0) const
Definition: rs_frame.hpp:1031
video_frame get_infrared_frame(const size_t index=0) const
Definition: rs_frame.hpp:1009
void foreach_rs(T action) const
Definition: rs_frame.hpp:1084
iterator end() const
Definition: rs_frame.hpp:1129
video_frame get_color_frame() const
Definition: rs_frame.hpp:992
frame operator[](size_t index) const
Definition: rs_frame.hpp:1101
depth_frame get_depth_frame() const
Definition: rs_frame.hpp:983
frameset()
Definition: rs_frame.hpp:926
iterator begin() const
Definition: rs_frame.hpp:1128
frameset(const frame &f)
Definition: rs_frame.hpp:931
frame first(rs2_stream s, rs2_format f=RS2_FORMAT_ANY) const
Definition: rs_frame.hpp:972
size_t size() const
Definition: rs_frame.hpp:1074
Definition: rs_frame.hpp:862
motion_frame(const frame &f)
Definition: rs_frame.hpp:868
rs2_vector get_motion_data() const
Definition: rs_frame.hpp:882
Definition: rs_frame.hpp:276
motion_stream_profile(const stream_profile &sp)
Definition: rs_frame.hpp:282
rs2_motion_device_intrinsic get_motion_intrinsics() const
Definition: rs_frame.hpp:297
Definition: rs_pipeline.hpp:19
Definition: rs_processing.hpp:413
Definition: rs_frame.hpp:713
points()
Definition: rs_frame.hpp:718
const vertex * get_vertices() const
Definition: rs_frame.hpp:744
const texture_coordinate * get_texture_coordinates() const
Definition: rs_frame.hpp:769
size_t size() const
Definition: rs_frame.hpp:777
void export_to_ply(const std::string &fname, video_frame texture)
Definition: rs_frame.hpp:757
points(const frame &f)
Definition: rs_frame.hpp:724
Definition: rs_frame.hpp:890
pose_frame(const frame &f)
Definition: rs_frame.hpp:896
rs2_pose get_pose_data() const
Definition: rs_frame.hpp:910
Definition: rs_frame.hpp:308
pose_stream_profile(const stream_profile &sp)
Definition: rs_frame.hpp:314
Definition: rs_processing.hpp:234
Definition: rs_sensor.hpp:103
Definition: rs_frame.hpp:23
rs2_extrinsics get_extrinsics_to(const stream_profile &to) const
Definition: rs_frame.hpp:148
rs2_format format() const
Definition: rs_frame.hpp:44
stream_profile(const rs2_stream_profile *profile)
Definition: rs_frame.hpp:170
rs2_format _format
Definition: rs_frame.hpp:195
const rs2_stream_profile * get() const
Definition: rs_frame.hpp:137
int _uid
Definition: rs_frame.hpp:193
stream_profile()
Definition: rs_frame.hpp:28
int _framerate
Definition: rs_frame.hpp:194
int stream_index() const
Definition: rs_frame.hpp:34
int unique_id() const
Definition: rs_frame.hpp:54
bool is_default() const
Definition: rs_frame.hpp:125
std::shared_ptr< rs2_stream_profile > _clone
Definition: rs_frame.hpp:190
std::string stream_name() const
Definition: rs_frame.hpp:113
rs2_stream _type
Definition: rs_frame.hpp:196
const rs2_stream_profile * _profile
Definition: rs_frame.hpp:189
bool is() const
Definition: rs_frame.hpp:92
int fps() const
Definition: rs_frame.hpp:49
T as() const
Definition: rs_frame.hpp:103
void register_extrinsics_to(const stream_profile &to, rs2_extrinsics extrinsics)
Definition: rs_frame.hpp:162
bool _default
Definition: rs_frame.hpp:198
rs2_stream stream_type() const
Definition: rs_frame.hpp:39
int _index
Definition: rs_frame.hpp:192
stream_profile clone(rs2_stream type, int index, rs2_format format) const
Definition: rs_frame.hpp:63
bool operator==(const stream_profile &rhs)
Definition: rs_frame.hpp:79
bool is_cloned()
Definition: rs_frame.hpp:169
Definition: rs_processing.hpp:598
Definition: rs_frame.hpp:630
int get_bits_per_pixel() const
Definition: rs_frame.hpp:688
int get_height() const
Definition: rs_frame.hpp:664
video_frame(const frame &f)
Definition: rs_frame.hpp:636
int get_stride_in_bytes() const
Definition: rs_frame.hpp:676
int get_width() const
Definition: rs_frame.hpp:652
int get_bytes_per_pixel() const
Definition: rs_frame.hpp:700
Definition: rs_frame.hpp:202
stream_profile clone(rs2_stream type, int index, rs2_format format, int width, int height, const rs2_intrinsics &intr) const
Definition: rs_frame.hpp:259
int height() const
Definition: rs_frame.hpp:230
video_stream_profile(const stream_profile &sp)
Definition: rs_frame.hpp:208
int width() const
Definition: rs_frame.hpp:225
rs2_intrinsics get_intrinsics() const
Definition: rs_frame.hpp:238
Definition: rs_context.hpp:12
float rs2_depth_frame_get_distance(const rs2_frame *frame_ref, int x, int y, rs2_error **error)
rs2_pixel * rs2_get_frame_texture_coordinates(const rs2_frame *frame, rs2_error **error)
rs2_timestamp_domain rs2_get_frame_timestamp_domain(const rs2_frame *frameset, rs2_error **error)
rs2_time_t rs2_get_frame_timestamp(const rs2_frame *frame, rs2_error **error)
int rs2_get_frame_data_size(const rs2_frame *frame, rs2_error **error)
int rs2_get_frame_points_count(const rs2_frame *frame, rs2_error **error)
void rs2_release_frame(rs2_frame *frame)
unsigned long long rs2_get_frame_number(const rs2_frame *frame, rs2_error **error)
int rs2_get_frame_bits_per_pixel(const rs2_frame *frame, rs2_error **error)
int rs2_is_frame_extendable_to(const rs2_frame *frame, rs2_extension extension_type, rs2_error **error)
const void * rs2_get_frame_data(const rs2_frame *frame, rs2_error **error)
rs2_metadata_type rs2_get_frame_metadata(const rs2_frame *frame, rs2_frame_metadata_value frame_metadata, rs2_error **error)
int rs2_get_frame_height(const rs2_frame *frame, rs2_error **error)
void rs2_frame_add_ref(rs2_frame *frame, rs2_error **error)
rs2_timestamp_domain
Specifies the clock in relation to which the frame timestamp was measured.
Definition: rs_frame.h:20
int rs2_supports_frame_metadata(const rs2_frame *frame, rs2_frame_metadata_value frame_metadata, rs2_error **error)
void rs2_export_to_ply(const rs2_frame *frame, const char *fname, rs2_frame *texture, rs2_error **error)
rs2_frame_metadata_value
Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame...
Definition: rs_frame.h:30
const rs2_stream_profile * rs2_get_frame_stream_profile(const rs2_frame *frame, rs2_error **error)
rs2_frame * rs2_extract_frame(rs2_frame *composite, int index, rs2_error **error)
void rs2_keep_frame(rs2_frame *frame)
int rs2_get_frame_stride_in_bytes(const rs2_frame *frame, rs2_error **error)
void rs2_pose_frame_get_pose_data(const rs2_frame *frame, rs2_pose *pose, rs2_error **error)
int rs2_embedded_frames_count(rs2_frame *composite, rs2_error **error)
rs2_sensor * rs2_get_frame_sensor(const rs2_frame *frame, rs2_error **error)
int rs2_get_frame_width(const rs2_frame *frame, rs2_error **error)
rs2_vertex * rs2_get_frame_vertices(const rs2_frame *frame, rs2_error **error)
float rs2_depth_frame_get_units(const rs2_frame *frame, rs2_error **error)
rs2_stream
Streams are different types of data provided by RealSense devices.
Definition: rs_sensor.h:43
@ RS2_STREAM_DEPTH
Definition: rs_sensor.h:45
@ RS2_STREAM_ANY
Definition: rs_sensor.h:44
@ RS2_STREAM_INFRARED
Definition: rs_sensor.h:47
@ RS2_STREAM_COLOR
Definition: rs_sensor.h:46
@ RS2_STREAM_POSE
Definition: rs_sensor.h:52
@ RS2_STREAM_FISHEYE
Definition: rs_sensor.h:48
void rs2_get_motion_intrinsics(const rs2_stream_profile *mode, rs2_motion_device_intrinsic *intrinsics, rs2_error **error)
float rs2_depth_stereo_frame_get_baseline(const rs2_frame *frame_ref, rs2_error **error)
const char * rs2_stream_to_string(rs2_stream stream)
void rs2_delete_stream_profile(rs2_stream_profile *mode)
int rs2_stream_profile_is(const rs2_stream_profile *mode, rs2_extension type, rs2_error **error)
void rs2_get_video_stream_resolution(const rs2_stream_profile *mode, int *width, int *height, rs2_error **error)
int rs2_is_stream_profile_default(const rs2_stream_profile *mode, rs2_error **error)
void rs2_get_stream_profile_data(const rs2_stream_profile *mode, rs2_stream *stream, rs2_format *format, int *index, int *unique_id, int *framerate, rs2_error **error)
void rs2_get_extrinsics(const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics *extrin, rs2_error **error)
void rs2_get_video_stream_intrinsics(const rs2_stream_profile *mode, rs2_intrinsics *intrinsics, rs2_error **error)
rs2_stream_profile * rs2_clone_video_stream_profile(const rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, int width, int height, const rs2_intrinsics *intr, rs2_error **error)
rs2_stream_profile * rs2_clone_stream_profile(const rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, rs2_error **error)
rs2_format
A stream's format identifies how binary data is encoded within a frame.
Definition: rs_sensor.h:60
@ RS2_FORMAT_RGB8
Definition: rs_sensor.h:66
@ RS2_FORMAT_Z16
Definition: rs_sensor.h:62
@ RS2_FORMAT_ANY
Definition: rs_sensor.h:61
void rs2_register_extrinsics(const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics extrin, rs2_error **error)
struct rs2_sensor rs2_sensor
Definition: rs_types.h:274
struct rs2_stream_profile rs2_stream_profile
Definition: rs_types.h:261
@ RS2_EXTENSION_MOTION_FRAME
Definition: rs_types.h:171
@ RS2_EXTENSION_MOTION_PROFILE
Definition: rs_types.h:181
@ RS2_EXTENSION_DISPARITY_FRAME
Definition: rs_types.h:180
@ RS2_EXTENSION_POSE_PROFILE
Definition: rs_types.h:183
@ RS2_EXTENSION_VIDEO_PROFILE
Definition: rs_types.h:177
@ RS2_EXTENSION_VIDEO_FRAME
Definition: rs_types.h:170
@ RS2_EXTENSION_COMPOSITE_FRAME
Definition: rs_types.h:172
@ RS2_EXTENSION_DEPTH_FRAME
Definition: rs_types.h:174
@ RS2_EXTENSION_POINTS
Definition: rs_types.h:173
@ RS2_EXTENSION_POSE_FRAME
Definition: rs_types.h:182
struct rs2_error rs2_error
Definition: rs_types.h:250
long long rs2_metadata_type
Definition: rs_types.h:293
struct rs2_frame rs2_frame
Definition: rs_types.h:253
Definition: rs_frame.hpp:707
float v
Definition: rs_frame.hpp:708
float u
Definition: rs_frame.hpp:708
Definition: rs_frame.hpp:703
float y
Definition: rs_frame.hpp:704
float x
Definition: rs_frame.hpp:704
float z
Definition: rs_frame.hpp:704
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.
Definition: rs_sensor.h:96
Definition: rs_types.hpp:26
Video stream intrinsics.
Definition: rs_types.h:59
Motion device intrinsics: scale, bias, and variances.
Definition: rs_types.h:98
Definition: rs_types.h:135
3D vector in Euclidean coordinate space
Definition: rs_types.h:124