RealSense Cross Platform API
RealSense Cross-platform API
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Public Member Functions | Protected Member Functions | Friends | List of all members
rs2::frame Class Reference

#include <rs_frame.hpp>

Inheritance diagram for rs2::frame:
rs2::frameset rs2::gl::gpu_frame rs2::inference_frame rs2::labeled_points rs2::motion_frame rs2::points rs2::pose_frame rs2::video_frame

Public Member Functions

 frame ()
 frame (rs2_frame *ref)
 frame (frame &&other) noexcept
frame & operator= (frame other)
 frame (const frame &other)
void swap (frame &other)
 ~frame ()
void keep ()
 operator bool () const
rs2_sensor * get_sensor ()
double get_timestamp () const
rs2_timestamp_domain get_frame_timestamp_domain () const
rs2_metadata_type get_frame_metadata (rs2_frame_metadata_value frame_metadata) const
bool supports_frame_metadata (rs2_frame_metadata_value frame_metadata) const
unsigned long long get_frame_number () const
const int get_data_size () const
const void * get_data () const
stream_profile get_profile () const
template<class T>
bool is () const
template<class T>
T as () const
rs2_frame * get () const
 operator rs2_frame * ()
frame apply_filter (filter_interface &filter)

Protected Member Functions

void add_ref () const
void reset ()

Friends

class rs2::frame_source
class rs2::frame_queue
class rs2::syncer
class rs2::processing_block
class rs2::pointcloud
class rs2::points

Constructor & Destructor Documentation

◆ frame() [1/4]

rs2::frame::frame ( )
inline

Base class for multiple frame extensions

◆ frame() [2/4]

rs2::frame::frame ( rs2_frame * ref)
inline

Base class for multiple frame extensions with internal frame handle

Parameters
[in]rs2_frameframe_ref - internal frame instance

◆ frame() [3/4]

rs2::frame::frame ( frame && other)
inlinenoexcept

Change the internal frame handle to the one in parameter, then put the other frame internal frame handle to nullptr

Parameters
[in]frameother - another frame instance to be pointed to

◆ frame() [4/4]

rs2::frame::frame ( const frame & other)
inline

Set the internal frame handle to the one in parameter, the function create additional reference if internal reference exist.

Parameters
[in]frameother - another frame instance to be pointed to

◆ ~frame()

rs2::frame::~frame ( )
inline

releases the frame handle

Member Function Documentation

◆ add_ref()

void rs2::frame::add_ref ( ) const
inlineprotected

add additional reference to a frame without duplicating frame data

Parameters
[out]resultnew frame reference, release by destructor
Returns
true if cloning was successful

◆ apply_filter()

frame rs2::frame::apply_filter ( filter_interface & filter)
inline

◆ as()

template<class T>
T rs2::frame::as ( ) const
inline

Template function, cast current instance as the type of another class

Returns
class instance.

◆ get()

rs2_frame * rs2::frame::get ( ) const
inline

Retrieve back the internal frame handle

Returns
rs2_frame - internal frame handle.

◆ get_data()

const void * rs2::frame::get_data ( ) const
inline

retrieve data from frame handle

Returns
the pointer to the start of the frame data

◆ get_data_size()

const int rs2::frame::get_data_size ( ) const
inline

retrieve data size from frame handle

Returns
the number of bytes in frame

◆ get_frame_metadata()

rs2_metadata_type rs2::frame::get_frame_metadata ( rs2_frame_metadata_value frame_metadata) const
inline

retrieve the current value of a single frame_metadata

Parameters
[in]frame_metadatathe frame_metadata whose value should be retrieved
Returns
the value of the frame_metadata

◆ get_frame_number()

unsigned long long rs2::frame::get_frame_number ( ) const
inline

retrieve frame number (from frame handle)

Returns
the frame number of the frame, in milliseconds since the device was started

◆ get_frame_timestamp_domain()

rs2_timestamp_domain rs2::frame::get_frame_timestamp_domain ( ) const
inline

retrieve the timestamp domain

Returns
timestamp domain (clock name) for timestamp values

◆ get_profile()

stream_profile rs2::frame::get_profile ( ) const
inline

retrieve stream profile from frame handle

Returns
stream_profile - the pointer to the stream profile

◆ get_sensor()

rs2_sensor * rs2::frame::get_sensor ( )
inline

◆ get_timestamp()

double rs2::frame::get_timestamp ( ) const
inline

retrieve the time at which the frame was captured During the frame's lifetime it receives timestamps both at the device and host levels. The different timestamps are gathered and managed under the frame's Metadata attributes. Chronologically the list of timestamps comprises of: SENSOR_TIMESTAMP - Device clock. For video sensors designates the middle of exposure. Requires metadata support. FRAME_TIMESTAMP - Device clock. Stamped at the beginning of frame readout and transfer. Requires metadata support. BACKEND_TIMESTAMP - Host (EPOCH) clock in Kernel space. Frame transfer from USB Controller to the USB Driver. TIME_OF_ARRIVAL - Host (EPOCH) clock in User space. Frame transfer from the USB Driver to Librealsense.

During runtime the SDK dynamically selects the most correct representaion, based on both device and host capabilities: In case the frame metadata is not configured:

  • The function call provides the TIME_OF_ARRIVAL stamp. In case the metadata is available the function returns:
  • HW Timestamp (FRAME_TIMESTAMP), or
  • Global Timestamp Host-corrected derivative of HW Timestamp required for multi-sensor/device synchronization
  • The user can select between the unmodified and the host-calculated Hardware Timestamp by toggling the RS2_OPTION_GLOBAL_TIME_ENABLED option. To query which of the three alternatives is active use get_frame_timestamp_domain() function call
    Returns
    the timestamp of the frame, in milliseconds according to the elaborated flow

◆ is()

template<class T>
bool rs2::frame::is ( ) const
inline

Template function, checking if current instance is the type of another class

Returns
bool - true or false.

◆ keep()

void rs2::frame::keep ( )
inline

keep the frame, otherwise if no refernce to the frame, the frame will be released.

◆ operator bool()

rs2::frame::operator bool ( ) const
inline

Parenthesis operator check if internal frame handle is valid.

Returns
bool - true or false.

◆ operator rs2_frame *()

rs2::frame::operator rs2_frame * ( )
inlineexplicit

◆ operator=()

frame & rs2::frame::operator= ( frame other)
inline

Change the internal frame handle to the one in parameter, the function exchange the internal frame handle.

Parameters
[in]frameother - another frame instance to be pointed to

◆ reset()

void rs2::frame::reset ( )
inlineprotected

◆ supports_frame_metadata()

bool rs2::frame::supports_frame_metadata ( rs2_frame_metadata_value frame_metadata) const
inline

determine if the device allows a specific metadata to be queried

Parameters
[in]frame_metadatathe frame_metadata to check for support
Returns
true if the frame_metadata can be queried

◆ swap()

void rs2::frame::swap ( frame & other)
inline

Swap the internal frame handle with the one in parameter

Parameters
[in]frameother - another frame instance to be swaped

◆ rs2::frame_queue

friend class rs2::frame_queue
friend

◆ rs2::frame_source

friend class rs2::frame_source
friend

◆ rs2::pointcloud

friend class rs2::pointcloud
friend

◆ rs2::points

friend class rs2::points
friend

◆ rs2::processing_block

friend class rs2::processing_block
friend

◆ rs2::syncer

friend class rs2::syncer
friend
The documentation for this class was generated from the following file:
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