4 #ifndef LIBREALSENSE_RS2_FRAME_HPP 5 #define LIBREALSENSE_RS2_FRAME_HPP 14 class processing_block;
18 class pipeline_profile;
114 std::stringstream ss;
130 operator bool()
const {
return _profile !=
nullptr; }
180 explicit operator std::shared_ptr<rs2_stream_profile>() {
return _clone; }
189 std::shared_ptr<rs2_stream_profile>
_clone;
350 other.frame_ref =
nullptr;
352 frame_number = other.frame_number;
353 profile = other.profile;
371 : frame_ref(other.frame_ref)
375 frame_number = other.frame_number;
376 profile = other.profile;
385 std::swap(frame_ref, other.frame_ref);
388 std::swap(frame_number, other.frame_number);
389 std::swap(profile, other.profile);
413 operator bool()
const {
return frame_ref !=
nullptr; }
574 unsigned long long frame_number = 0;
654 operator const float*()
const {
return &
x; }
658 operator const float*()
const {
return &
u; }
698 return (
const vertex*)res;
709 std::swap(texture.frame_ref, ptr);
821 auto data =
reinterpret_cast<const float*
>(
get_data());
822 return rs2_vector{ data[0], data[1], data[2] };
895 foreach([&result, s, f](
frame frm) {
898 result = std::move(frm);
912 if (!frm)
throw error(
"Frame of requested stream type was not found!");
955 foreach([&f, index](
const frame& frm) {
977 foreach([&f, index](
const frame& frm) {
999 foreach([&f, index](
const frame& frm) {
1021 void foreach(T action)
const 1024 auto count =
size();
1025 for (
size_t i = 0; i < count; i++)
1030 action(
frame(fref));
1048 throw error(
"Requested index is out of range!");
1051 class iterator :
public std::iterator<std::forward_iterator_tag, frame>
1074 T on_frame_function;
1080 on_frame_function(
frame{ fref });
1086 #endif // LIBREALSENSE_RS2_FRAME_HPP Definition: rs_types.hpp:69
void rs2_register_extrinsics(const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics extrin, rs2_error **error)
Definition: rs_frame.hpp:252
iterator begin() const
Definition: rs_frame.hpp:1065
frame apply_filter(filter_interface &filter)
Definition: rs_frame.hpp:535
Definition: rs_frame.hpp:21
int get_bytes_per_pixel() const
Definition: rs_frame.hpp:649
depth_frame(const frame &f)
Definition: rs_frame.hpp:742
Definition: rs_frame.hpp:578
Definition: rs_types.hpp:25
void rs2_export_to_ply(const rs2_frame *frame, const char *fname, rs2_frame *texture, rs2_error **error)
Definition: rs_sensor.hpp:103
Definition: rs_frame.hpp:313
void release() override
Definition: rs_frame.hpp:1083
void add_ref() const
Definition: rs_frame.hpp:546
int rs2_get_frame_points_count(const rs2_frame *frame, rs2_error **error)
frame first(rs2_stream s, rs2_format f=RS2_FORMAT_ANY) const
Definition: rs_frame.hpp:909
const rs2_stream_profile * rs2_get_frame_stream_profile(const rs2_frame *frame, rs2_error **error)
rs2_sensor * rs2_get_frame_sensor(const rs2_frame *frame, rs2_error **error)
rs2_motion_device_intrinsic get_motion_intrinsics() const
Definition: rs_frame.hpp:274
int _uid
Definition: rs_frame.hpp:192
stream_profile()
Definition: rs_frame.hpp:27
Definition: rs_pipeline.hpp:18
int rs2_is_frame_extendable_to(const rs2_frame *frame, rs2_extension extension_type, rs2_error **error)
rs2_format format() const
Definition: rs_frame.hpp:43
Definition: rs_types.h:143
void rs2_get_video_stream_resolution(const rs2_stream_profile *mode, int *width, int *height, rs2_error **error)
Definition: rs_frame.hpp:661
void register_extrinsics_to(const stream_profile &to, rs2_extrinsics extrinsics)
Definition: rs_frame.hpp:161
frame operator*()
Definition: rs_frame.hpp:1059
Definition: rs_frame.hpp:284
void rs2_keep_frame(rs2_frame *frame)
void rs2_get_extrinsics(const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics *extrin, rs2_error **error)
std::string stream_name() const
Definition: rs_frame.hpp:112
frameset()
Definition: rs_frame.hpp:863
float y
Definition: rs_frame.hpp:653
int _index
Definition: rs_frame.hpp:191
Definition: rs_sensor.h:44
Definition: rs_sensor.h:58
pose_frame get_pose_frame(const size_t index=0) const
Definition: rs_frame.hpp:990
Definition: rs_sensor.h:48
Definition: rs_types.h:145
frame(frame &&other) noexcept
Definition: rs_frame.hpp:348
Definition: rs_frame.hpp:857
bool is() const
Definition: rs_frame.hpp:91
void export_to_ply(const std::string &fname, video_frame texture)
Definition: rs_frame.hpp:706
rs2_time_t rs2_get_frame_timestamp(const rs2_frame *frame, rs2_error **error)
int rs2_stream_profile_is(const rs2_stream_profile *mode, rs2_extension type, rs2_error **error)
Definition: rs_context.hpp:11
rs2_pixel * rs2_get_frame_texture_coordinates(const rs2_frame *frame, rs2_error **error)
double get_timestamp() const
Definition: rs_frame.hpp:428
bool is() const
Definition: rs_frame.hpp:512
size_t size() const
Definition: rs_frame.hpp:726
float u
Definition: rs_frame.hpp:657
video_frame get_color_frame() const
Definition: rs_frame.hpp:929
int rs2_supports_frame_metadata(const rs2_frame *frame, rs2_frame_metadata_value frame_metadata, rs2_error **error)
Definition: rs_processing.hpp:205
rs2_stream_profile * rs2_clone_stream_profile(const rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, rs2_error **error)
float z
Definition: rs_frame.hpp:653
int fps() const
Definition: rs_frame.hpp:48
void reset()
Definition: rs_frame.hpp:553
iterator & operator++()
Definition: rs_frame.hpp:1055
struct rs2_sensor rs2_sensor
Definition: rs_types.h:227
Definition: rs_sensor.h:42
rs2_extrinsics get_extrinsics_to(const stream_profile &to) const
Definition: rs_frame.hpp:147
int rs2_get_frame_height(const rs2_frame *frame, rs2_error **error)
std::shared_ptr< rs2_stream_profile > _clone
Definition: rs_frame.hpp:189
pose_frame(const frame &f)
Definition: rs_frame.hpp:833
void swap(frame &other)
Definition: rs_frame.hpp:383
Definition: rs_types.h:153
Definition: rs_frame.hpp:1051
frame & operator=(frame other)
Definition: rs_frame.hpp:360
Definition: rs_sensor.h:62
Definition: rs_frame.hpp:798
frame_callback(T on_frame)
Definition: rs_frame.hpp:1076
int rs2_get_frame_stride_in_bytes(const rs2_frame *frame, rs2_error **error)
Definition: rs_frame.hpp:1072
rs2_vector get_motion_data() const
Definition: rs_frame.hpp:819
frame(rs2_frame *ref)
Definition: rs_frame.hpp:324
const rs2_stream_profile * _profile
Definition: rs_frame.hpp:188
frame first_or_default(rs2_stream s, rs2_format f=RS2_FORMAT_ANY) const
Definition: rs_frame.hpp:892
rs2::frame process(rs2::frame frame) const override
Definition: rs_processing.hpp:324
video_frame(const frame &f)
Definition: rs_frame.hpp:585
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)
points()
Definition: rs_frame.hpp:667
float get_distance(int x, int y) const
Definition: rs_frame.hpp:759
Definition: rs_processing.hpp:18
int rs2_embedded_frames_count(rs2_frame *composite, rs2_error **error)
int rs2_is_stream_profile_default(const rs2_stream_profile *mode, rs2_error **error)
int _framerate
Definition: rs_frame.hpp:193
Definition: rs_types.h:146
motion_frame(const frame &f)
Definition: rs_frame.hpp:805
~frame()
Definition: rs_frame.hpp:396
int rs2_get_frame_width(const rs2_frame *frame, rs2_error **error)
Definition: rs_internal.hpp:73
float rs2_depth_frame_get_distance(const rs2_frame *frame_ref, int x, int y, rs2_error **error)
frame operator[](size_t index) const
Definition: rs_frame.hpp:1038
Definition: rs_types.h:144
rs2_timestamp_domain rs2_get_frame_timestamp_domain(const rs2_frame *frameset, rs2_error **error)
Definition: rs_types.h:107
rs2_format _format
Definition: rs_frame.hpp:194
void rs2_delete_stream_profile(rs2_stream_profile *mode)
motion_stream_profile(const stream_profile &sp)
Definition: rs_frame.hpp:259
Definition: rs_types.h:152
rs2_timestamp_domain get_frame_timestamp_domain() const
Definition: rs_frame.hpp:439
T as() const
Definition: rs_frame.hpp:102
T as() const
Definition: rs_frame.hpp:522
video_stream_profile(const stream_profile &sp)
Definition: rs_frame.hpp:207
struct rs2_stream_profile rs2_stream_profile
Definition: rs_types.h:215
Definition: rs_sensor.h:57
virtual ~filter_interface()=default
rs2_format
A stream's format identifies how binary data is encoded within a frame.
Definition: rs_sensor.h:55
Definition: rs_processing.hpp:384
bool is_default() const
Definition: rs_frame.hpp:124
void keep()
Definition: rs_frame.hpp:407
unsigned long long rs2_get_frame_number(const rs2_frame *frame, rs2_error **error)
int stream_index() const
Definition: rs_frame.hpp:33
video_frame get_infrared_frame(const size_t index=0) const
Definition: rs_frame.hpp:946
const texture_coordinate * get_texture_coordinates() const
Definition: rs_frame.hpp:718
int get_bits_per_pixel() const
Definition: rs_frame.hpp:637
bool operator==(const iterator &other) const
Definition: rs_frame.hpp:1056
static void handle(rs2_error *e)
Definition: rs_types.hpp:121
Definition: rs_sensor.h:41
rs2_sensor * get_sensor()
Definition: rs_frame.hpp:420
rs2_stream
Streams are different types of data provided by RealSense devices.
Definition: rs_sensor.h:38
Definition: rs_processing.hpp:315
int get_height() const
Definition: rs_frame.hpp:613
const rs2_stream_profile * get() const
Definition: rs_frame.hpp:136
bool _default
Definition: rs_frame.hpp:197
Definition: rs_frame.hpp:768
void rs2_get_video_stream_intrinsics(const rs2_stream_profile *mode, rs2_intrinsics *intrinsics, rs2_error **error)
Definition: rs_sensor.h:43
unsigned long long get_frame_number() const
Definition: rs_frame.hpp:475
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented...
Definition: rs_sensor.h:84
Definition: rs_types.h:142
iterator end() const
Definition: rs_frame.hpp:1066
iterator(const frameset *owner, size_t index=0)
Definition: rs_frame.hpp:1054
bool is_cloned()
Definition: rs_frame.hpp:168
3D vector in Euclidean coordinate space
Definition: rs_types.h:96
virtual rs2::frame process(rs2::frame frame) const =0
int get_width() const
Definition: rs_frame.hpp:601
const void * get_data() const
Definition: rs_frame.hpp:487
const char * rs2_stream_to_string(rs2_stream stream)
void on_frame(rs2_frame *fref) override
Definition: rs_frame.hpp:1078
Definition: rs_sensor.h:40
long long rs2_metadata_type
Definition: rs_types.h:239
points(const frame &f)
Definition: rs_frame.hpp:673
Definition: rs_frame.hpp:306
Definition: rs_types.h:149
int get_stride_in_bytes() const
Definition: rs_frame.hpp:625
rs2_vertex * rs2_get_frame_vertices(const rs2_frame *frame, rs2_error **error)
disparity_frame(const frame &f)
Definition: rs_frame.hpp:775
int width() const
Definition: rs_frame.hpp:224
void rs2_frame_add_ref(rs2_frame *frame, rs2_error **error)
Video stream intrinsics.
Definition: rs_types.h:57
Definition: rs_processing.hpp:569
int height() const
Definition: rs_frame.hpp:229
rs2_pose get_pose_data() const
Definition: rs_frame.hpp:847
bool operator!=(const iterator &other) const
Definition: rs_frame.hpp:1057
bool operator==(const stream_profile &rhs)
Definition: rs_frame.hpp:78
Motion device intrinsics: scale, bias, and variances.
Definition: rs_types.h:70
depth_frame get_depth_frame() const
Definition: rs_frame.hpp:920
Definition: rs_processing.hpp:115
float rs2_depth_stereo_frame_get_baseline(const rs2_frame *frame_ref, rs2_error **error)
stream_profile(const rs2_stream_profile *profile)
Definition: rs_frame.hpp:169
void rs2_release_frame(rs2_frame *frame)
rs2_metadata_type get_frame_metadata(rs2_frame_metadata_value frame_metadata) const
Definition: rs_frame.hpp:451
frameset(const frame &f)
Definition: rs_frame.hpp:868
Definition: rs_frame.hpp:656
rs2_frame * rs2_extract_frame(rs2_frame *composite, int index, rs2_error **error)
size_t size() const
Definition: rs_frame.hpp:1011
Definition: rs_types.h:154
rs2_metadata_type rs2_get_frame_metadata(const rs2_frame *frame, rs2_frame_metadata_value frame_metadata, rs2_error **error)
Definition: rs_types.h:155
struct rs2_error rs2_error
Definition: rs_types.h:205
bool supports_frame_metadata(rs2_frame_metadata_value frame_metadata) const
Definition: rs_frame.hpp:463
rs2_stream stream_type() const
Definition: rs_frame.hpp:38
float x
Definition: rs_frame.hpp:653
Definition: rs_frame.hpp:200
Definition: rs_frame.hpp:826
frame(const frame &other)
Definition: rs_frame.hpp:370
rs2_intrinsics get_intrinsics() const
Definition: rs_frame.hpp:237
void rs2_get_motion_intrinsics(const rs2_stream_profile *mode, rs2_motion_device_intrinsic *intrinsics, rs2_error **error)
video_frame get_fisheye_frame(const size_t index=0) const
Definition: rs_frame.hpp:968
rs2_frame * get() const
Definition: rs_frame.hpp:532
void rs2_pose_frame_get_pose_data(const rs2_frame *frame, rs2_pose *pose, rs2_error **error)
frame()
Definition: rs_frame.hpp:319
float v
Definition: rs_frame.hpp:657
stream_profile clone(rs2_stream type, int index, rs2_format format) const
Definition: rs_frame.hpp:62
int rs2_get_frame_bits_per_pixel(const rs2_frame *frame, 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:29
struct rs2_frame rs2_frame
Definition: rs_types.h:207
const void * rs2_get_frame_data(const rs2_frame *frame, rs2_error **error)
float get_baseline(void) const
Definition: rs_frame.hpp:789
pose_stream_profile(const stream_profile &sp)
Definition: rs_frame.hpp:291
rs2_stream _type
Definition: rs_frame.hpp:195
Definition: rs_frame.hpp:652
stream_profile get_profile() const
Definition: rs_frame.hpp:499
const vertex * get_vertices() const
Definition: rs_frame.hpp:693
Definition: rs_frame.hpp:735
rs2_timestamp_domain
Specifies the clock in relation to which the frame timestamp was measured.
Definition: rs_frame.h:19
int unique_id() const
Definition: rs_frame.hpp:53