Public Member Functions | Protected Member Functions | Private Attributes | Friends | List of all members
rs2::frame Class Reference

#include <rs_frame.hpp>

Inheritance diagram for rs2::frame:
Inheritance graph
[legend]

Public Member Functions

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

Protected Member Functions

void add_ref () const
 
void reset ()
 

Private Attributes

rs2_frame * frame_ref
 

Friends

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

Detailed Description

Definition at line 343 of file rs_frame.hpp.

Constructor & Destructor Documentation

rs2::frame::frame ( )
inline

Base class for multiple frame extensions

Definition at line 349 of file rs_frame.hpp.

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

Definition at line 354 of file rs_frame.hpp.

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

Definition at line 378 of file rs_frame.hpp.

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

Definition at line 400 of file rs_frame.hpp.

rs2::frame::~frame ( )
inline

releases the frame handle

Definition at line 426 of file rs_frame.hpp.

Member Function Documentation

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

Definition at line 604 of file rs_frame.hpp.

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

Definition at line 593 of file rs_frame.hpp.

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

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

Returns
class instance.

Definition at line 580 of file rs_frame.hpp.

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

Retrieve back the internal frame handle

Returns
rs2_frame - internal frame handle.

Definition at line 590 of file rs_frame.hpp.

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

retrieve data from frame handle

Returns
the pointer to the start of the frame data

Definition at line 545 of file rs_frame.hpp.

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

retrieve data size from frame handle

Returns
the number of bytes in frame

Definition at line 533 of file rs_frame.hpp.

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

Definition at line 497 of file rs_frame.hpp.

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

Definition at line 521 of file rs_frame.hpp.

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

retrieve the timestamp domain

Returns
timestamp domain (clock name) for timestamp values

Definition at line 485 of file rs_frame.hpp.

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

retrieve stream profile from frame handle

Returns
stream_profile - the pointer to the stream profile

Definition at line 557 of file rs_frame.hpp.

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

Definition at line 445 of file rs_frame.hpp.

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

Definition at line 474 of file rs_frame.hpp.

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.

Definition at line 570 of file rs_frame.hpp.

void rs2::frame::keep ( )
inline

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

Definition at line 437 of file rs_frame.hpp.

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

Parenthesis operator check if internal frame handle is valid.

Returns
bool - true or false.

Definition at line 443 of file rs_frame.hpp.

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

Definition at line 591 of file rs_frame.hpp.

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

Definition at line 390 of file rs_frame.hpp.

void rs2::frame::reset ( void  )
inlineprotected

Definition at line 611 of file rs_frame.hpp.

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

Definition at line 509 of file rs_frame.hpp.

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

Definition at line 413 of file rs_frame.hpp.

Friends And Related Function Documentation

friend class rs2::frame_queue
friend

Definition at line 622 of file rs_frame.hpp.

friend class rs2::frame_source
friend

Definition at line 621 of file rs_frame.hpp.

friend class rs2::pointcloud
friend

Definition at line 625 of file rs_frame.hpp.

friend class rs2::points
friend

Definition at line 626 of file rs_frame.hpp.

friend class rs2::processing_block
friend

Definition at line 624 of file rs_frame.hpp.

friend class rs2::syncer
friend

Definition at line 623 of file rs_frame.hpp.

Member Data Documentation

rs2_frame* rs2::frame::frame_ref
private

Definition at line 628 of file rs_frame.hpp.

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

librealsense2
Author(s): Sergey Dorodnicov , Doron Hirshberg , Mark Horn , Reagan Lopez , Itay Carpis
autogenerated on Mon May 3 2021 02:50:40