Exposes RealSense frame functionality for C compilers. More...
#include "rs_types.h"
Go to the source code of this file.
Typedefs | |
| typedef enum rs2_calib_target_type | rs2_calib_target_type |
| Calibration target type. More... | |
| typedef enum rs2_frame_metadata_value | rs2_frame_metadata_value |
| Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame. More... | |
| typedef enum rs2_timestamp_domain | rs2_timestamp_domain |
| Specifies the clock in relation to which the frame timestamp was measured. More... | |
Detailed Description
Exposes RealSense frame functionality for C compilers.
Definition in file rs_frame.h.
Typedef Documentation
| typedef enum rs2_calib_target_type rs2_calib_target_type |
Calibration target type.
| typedef enum rs2_frame_metadata_value rs2_frame_metadata_value |
Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame.
| typedef enum rs2_timestamp_domain rs2_timestamp_domain |
Specifies the clock in relation to which the frame timestamp was measured.
Enumeration Type Documentation
Calibration target type.
Definition at line 74 of file rs_frame.h.
Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame.
Definition at line 29 of file rs_frame.h.
| enum rs2_timestamp_domain |
Specifies the clock in relation to which the frame timestamp was measured.
Definition at line 19 of file rs_frame.h.
Function Documentation
| rs2_frame* rs2_allocate_composite_frame | ( | rs2_source * | source, |
| rs2_frame ** | frames, | ||
| int | count, | ||
| rs2_error ** | error | ||
| ) |
Allocate new composite frame, aggregating a set of existing frames
- Parameters
-
[in] source Frame pool to allocate the frame from [in] frames Array of existing frames [in] count Number of input frames [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- reference to a newly allocated frame, must be released with release_frame when composite frame gets released it will automatically release all of the input frames
| rs2_frame* rs2_allocate_points | ( | rs2_source * | source, |
| const rs2_stream_profile * | new_stream, | ||
| rs2_frame * | original, | ||
| rs2_error ** | error | ||
| ) |
Allocate new points frame using a frame-source provided from a processing block
- Parameters
-
[in] source Frame pool to allocate the frame from [in] new_stream New stream profile to assign to newly created frame [in] original A reference frame that can be used to fill in auxilary information like format, width, height, bpp, stride (if applicable) [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- reference to a newly allocated frame, must be released with release_frame memory for the frame is likely to be re-used from previous frame, but in lack of available frames in the pool will be allocated from the free store
| rs2_frame* rs2_allocate_synthetic_motion_frame | ( | rs2_source * | source, |
| const rs2_stream_profile * | new_stream, | ||
| rs2_frame * | original, | ||
| rs2_extension | frame_type, | ||
| rs2_error ** | error | ||
| ) |
Allocate new motion frame using a frame-source provided form a processing block
- Parameters
-
[in] source Frame pool to allocate the frame from [in] new_stream New stream profile to assign to newly created frame [in] original A reference frame that can be used to fill in auxilary information like format, width, height, bpp, stride (if applicable) [in] frame_type New value for frame type for the allocated frame [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- reference to a newly allocated frame, must be released with release_frame memory for the frame is likely to be re-used from previous frame, but in lack of available frames in the pool will be allocated from the free store
| rs2_frame* rs2_allocate_synthetic_video_frame | ( | rs2_source * | source, |
| const rs2_stream_profile * | new_stream, | ||
| rs2_frame * | original, | ||
| int | new_bpp, | ||
| int | new_width, | ||
| int | new_height, | ||
| int | new_stride, | ||
| rs2_extension | frame_type, | ||
| rs2_error ** | error | ||
| ) |
Allocate new video frame using a frame-source provided form a processing block
- Parameters
-
[in] source Frame pool to allocate the frame from [in] new_stream New stream profile to assign to newly created frame [in] original A reference frame that can be used to fill in auxilary information like format, width, height, bpp, stride (if applicable) [in] new_bpp New value for bits per pixel for the allocated frame [in] new_width New value for width for the allocated frame [in] new_height New value for height for the allocated frame [in] new_stride New value for stride in bytes for the allocated frame [in] frame_type New value for frame type for the allocated frame [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- reference to a newly allocated frame, must be released with release_frame memory for the frame is likely to be re-used from previous frame, but in lack of available frames in the pool will be allocated from the free store
| const char* rs2_calib_target_type_to_string | ( | rs2_calib_target_type | type | ) |
| void rs2_export_to_ply | ( | const rs2_frame * | frame, |
| const char * | fname, | ||
| rs2_frame * | texture, | ||
| rs2_error ** | error | ||
| ) |
When called on Points frame type, this method creates a ply file of the model with the given file name.
- Parameters
-
[in] frame Points frame [in] fname The name for the ply file [in] texture Texture frame [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
Extract frame from within a composite frame
- Parameters
-
[in] composite Composite frame [in] index Index of the frame to extract within the composite frame [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- returns reference to a frame existing within the composite frame If you wish to keep this frame after the composite is released, you need to call acquire_ref Otherwise the resulting frame lifetime is bound by owning composite frame
| void rs2_extract_target_dimensions | ( | const rs2_frame * | frame, |
| rs2_calib_target_type | calib_type, | ||
| float * | target_dims, | ||
| unsigned int | target_dims_size, | ||
| rs2_error ** | error | ||
| ) |
Extract the target dimensions on the specific target
- Parameters
-
[in] frame Left or right camera frame of specified size based on the target type [in] calib_type Calibration target type [in] target_dims_size Target dimension array size [out] target_dims The array to hold the result target dimensions calculated. For type RS2_CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES, the four rectangle side sizes in pixels with the order of top, bottom, left, and right [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
create additional reference to a frame without duplicating frame data
- Parameters
-
[in] frame handle returned from a callback [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- new frame reference, has to be released by rs2_release_frame
| const char* rs2_frame_metadata_to_string | ( | rs2_frame_metadata_value | metadata | ) |
| const char* rs2_frame_metadata_value_to_string | ( | rs2_frame_metadata_value | metadata | ) |
retrieve bits per pixels in the frame image (note that bits per pixel is not necessarily divided by 8, as in 12bpp)
- Parameters
-
[in] frame handle returned from a callback [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- bits per pixel
| rs2_metadata_type rs2_get_frame_metadata | ( | const rs2_frame * | frame, |
| rs2_frame_metadata_value | frame_metadata, | ||
| rs2_error ** | error | ||
| ) |
retrieve metadata from frame handle
- Parameters
-
[in] frame handle returned from a callback [in] frame_metadata the rs2_frame_metadata whose latest frame we are interested in [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- the metadata value
retrieve frame number from frame handle
- Parameters
-
[in] frame handle returned from a callback [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- the frame nubmer of the frame, in milliseconds since the device was started
| rs2_sensor* rs2_get_frame_sensor | ( | const rs2_frame * | frame, |
| rs2_error ** | error | ||
| ) |
| const rs2_stream_profile* rs2_get_frame_stream_profile | ( | const rs2_frame * | frame, |
| rs2_error ** | error | ||
| ) |
Returns the stream profile that was used to start the stream of this frame
- Parameters
-
[in] frame frame reference, owned by the user [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- Pointer to the stream profile object, lifetime is managed elsewhere
retrieve frame stride in bytes (number of bytes from start of line N to start of line N+1)
- Parameters
-
[in] frame handle returned from a callback [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- stride in bytes
When called on Points frame type, this method returns a pointer to an array of texture coordinates per vertex Each coordinate represent a (u,v) pair within [0,1] range, to be mapped to texture image
- Parameters
-
[in] frame Points frame [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- Pointer to an array of texture coordinates, lifetime is managed by the frame
| rs2_time_t rs2_get_frame_timestamp | ( | const rs2_frame * | frame, |
| rs2_error ** | error | ||
| ) |
| rs2_timestamp_domain rs2_get_frame_timestamp_domain | ( | const rs2_frame * | frameset, |
| rs2_error ** | error | ||
| ) |
retrieve timestamp domain from frame handle. timestamps can only be comparable if they are in common domain (for example, depth timestamp might come from system time while color timestamp might come from the device) this method is used to check if two timestamp values are comparable (generated from the same clock)
- Parameters
-
[in] frameset handle returned from a callback [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- the timestamp domain of the frame (camera / microcontroller / system time)
| rs2_vertex* rs2_get_frame_vertices | ( | const rs2_frame * | frame, |
| rs2_error ** | error | ||
| ) |
When called on Points frame type, this method returns a pointer to an array of 3D vertices of the model The coordinate system is: X right, Y up, Z away from the camera. Units: Meters
- Parameters
-
[in] frame Points frame [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- Pointer to an array of vertices, lifetime is managed by the frame
| int rs2_is_frame_extendable_to | ( | const rs2_frame * | frame, |
| rs2_extension | extension_type, | ||
| rs2_error ** | error | ||
| ) |
Test if the given frame can be extended to the requested extension
- Parameters
-
[in] frame Realsense frame [in] extension_type The extension to which the frame should be tested if it is extendable [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- non-zero value iff the frame can be extended to the given extension
communicate to the library you intend to keep the frame alive for a while this will remove the frame from the regular count of the frame pool once this function is called, the SDK can no longer guarantee 0-allocations during frame cycling
- Parameters
-
[in] frame handle returned from a callback
When called on Pose frame type, this method returns the transformation represented by the pose data
- Parameters
-
[in] frame Pose frame [out] pose Pointer to a user allocated struct, which contains the pose info after a successful return [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| int rs2_supports_frame_metadata | ( | const rs2_frame * | frame, |
| rs2_frame_metadata_value | frame_metadata, | ||
| rs2_error ** | error | ||
| ) |
determine device metadata
- Parameters
-
[in] frame handle returned from a callback [in] frame_metadata the metadata to check for support [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- true if device has this metadata
| void rs2_synthetic_frame_ready | ( | rs2_source * | source, |
| rs2_frame * | frame, | ||
| rs2_error ** | error | ||
| ) |
This method will dispatch frame callback on a frame
- Parameters
-
[in] source Frame pool provided by the processing block [in] frame Frame to dispatch, frame ownership is passed to this function, so you don't have to call release_frame after it [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| const char* rs2_timestamp_domain_to_string | ( | rs2_timestamp_domain | info | ) |