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);
872 auto data = reinterpret_cast<const float*>(
get_data());
873 return rs2_vector{ data[0], data[1], data[2] };
946 foreach([&result, s, f](
frame frm) {
949 result = std::move(frm);
963 if (!frm)
throw error(
"Frame of requested stream type was not found!");
1006 foreach([&f, index](
const frame& frm) {
1028 foreach([&f, index](
const frame& frm) {
1050 foreach([&f, index](
const frame& frm) {
1072 void foreach(T action)
const 1075 auto count =
size();
1076 for (
size_t i = 0; i < count; i++)
1081 action(
frame(fref));
1099 throw error(
"Requested index is out of range!");
1102 class iterator :
public std::iterator<std::forward_iterator_tag, frame>
1125 T on_frame_function;
1131 on_frame_function(
frame{ fref });
1137 #endif // LIBREALSENSE_RS2_FRAME_HPP Definition: rs_types.hpp:76
void rs2_register_extrinsics(const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics extrin, rs2_error **error)
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
Definition: rs_frame.hpp:275
iterator begin() const
Definition: rs_frame.hpp:1116
frame apply_filter(filter_interface &filter)
Definition: rs_frame.hpp:586
Definition: rs_frame.hpp:22
int get_bytes_per_pixel() const
Definition: rs_frame.hpp:700
depth_frame(const frame &f)
Definition: rs_frame.hpp:793
Definition: rs_frame.hpp:629
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:336
void release() override
Definition: rs_frame.hpp:1134
void add_ref() const
Definition: rs_frame.hpp:597
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:960
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:297
int _uid
Definition: rs_frame.hpp:193
stream_profile()
Definition: rs_frame.hpp:28
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:44
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:712
void register_extrinsics_to(const stream_profile &to, rs2_extrinsics extrinsics)
Definition: rs_frame.hpp:162
frame operator*()
Definition: rs_frame.hpp:1110
Definition: rs_frame.hpp:307
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:113
frameset()
Definition: rs_frame.hpp:914
float y
Definition: rs_frame.hpp:704
int _index
Definition: rs_frame.hpp:192
Definition: rs_sensor.h:46
Definition: rs_sensor.h:60
pose_frame get_pose_frame(const size_t index=0) const
Definition: rs_frame.hpp:1041
Definition: rs_sensor.h:50
Definition: rs_types.h:145
frame(frame &&other) noexcept
Definition: rs_frame.hpp:371
Definition: rs_frame.hpp:908
bool is() const
Definition: rs_frame.hpp:92
void export_to_ply(const std::string &fname, video_frame texture)
Definition: rs_frame.hpp:757
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:467
bool is() const
Definition: rs_frame.hpp:563
size_t size() const
Definition: rs_frame.hpp:777
float u
Definition: rs_frame.hpp:708
video_frame get_color_frame() const
Definition: rs_frame.hpp:980
int rs2_supports_frame_metadata(const rs2_frame *frame, rs2_frame_metadata_value frame_metadata, rs2_error **error)
Definition: rs_processing.hpp:214
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:704
int fps() const
Definition: rs_frame.hpp:49
void reset()
Definition: rs_frame.hpp:604
iterator & operator++()
Definition: rs_frame.hpp:1106
struct rs2_sensor rs2_sensor
Definition: rs_types.h:232
Definition: rs_sensor.h:44
rs2_extrinsics get_extrinsics_to(const stream_profile &to) const
Definition: rs_frame.hpp:148
int rs2_get_frame_height(const rs2_frame *frame, rs2_error **error)
std::shared_ptr< rs2_stream_profile > _clone
Definition: rs_frame.hpp:190
pose_frame(const frame &f)
Definition: rs_frame.hpp:884
void swap(frame &other)
Definition: rs_frame.hpp:406
Definition: rs_types.h:153
Definition: rs_frame.hpp:1102
frame & operator=(frame other)
Definition: rs_frame.hpp:383
Definition: rs_sensor.h:64
Definition: rs_frame.hpp:849
frame_callback(T on_frame)
Definition: rs_frame.hpp:1127
int rs2_get_frame_stride_in_bytes(const rs2_frame *frame, rs2_error **error)
Definition: rs_frame.hpp:1123
rs2_vector get_motion_data() const
Definition: rs_frame.hpp:870
frame(rs2_frame *ref)
Definition: rs_frame.hpp:347
const rs2_stream_profile * _profile
Definition: rs_frame.hpp:189
frame first_or_default(rs2_stream s, rs2_format f=RS2_FORMAT_ANY) const
Definition: rs_frame.hpp:943
rs2::frame process(rs2::frame frame) const override
Definition: rs_processing.hpp:333
video_frame(const frame &f)
Definition: rs_frame.hpp:636
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:718
float get_distance(int x, int y) const
Definition: rs_frame.hpp:810
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:194
Definition: rs_types.h:146
motion_frame(const frame &f)
Definition: rs_frame.hpp:856
~frame()
Definition: rs_frame.hpp:419
int rs2_get_frame_width(const rs2_frame *frame, rs2_error **error)
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:1089
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:195
void rs2_delete_stream_profile(rs2_stream_profile *mode)
motion_stream_profile(const stream_profile &sp)
Definition: rs_frame.hpp:282
Definition: rs_types.h:152
rs2_timestamp_domain get_frame_timestamp_domain() const
Definition: rs_frame.hpp:478
T as() const
Definition: rs_frame.hpp:103
T as() const
Definition: rs_frame.hpp:573
video_stream_profile(const stream_profile &sp)
Definition: rs_frame.hpp:208
struct rs2_stream_profile rs2_stream_profile
Definition: rs_types.h:219
Definition: rs_sensor.h:59
virtual ~filter_interface()=default
rs2_format
A stream's format identifies how binary data is encoded within a frame.
Definition: rs_sensor.h:57
Definition: rs_processing.hpp:393
bool is_default() const
Definition: rs_frame.hpp:125
void keep()
Definition: rs_frame.hpp:430
unsigned long long rs2_get_frame_number(const rs2_frame *frame, rs2_error **error)
int stream_index() const
Definition: rs_frame.hpp:34
video_frame get_infrared_frame(const size_t index=0) const
Definition: rs_frame.hpp:997
const texture_coordinate * get_texture_coordinates() const
Definition: rs_frame.hpp:769
int get_bits_per_pixel() const
Definition: rs_frame.hpp:688
bool operator==(const iterator &other) const
Definition: rs_frame.hpp:1107
static void handle(rs2_error *e)
Definition: rs_types.hpp:128
Definition: rs_sensor.h:43
rs2_sensor * get_sensor()
Definition: rs_frame.hpp:438
int rs2_get_frame_data_size(const rs2_frame *frame, rs2_error **error)
rs2_stream
Streams are different types of data provided by RealSense devices.
Definition: rs_sensor.h:40
Definition: rs_processing.hpp:324
int get_height() const
Definition: rs_frame.hpp:664
const rs2_stream_profile * get() const
Definition: rs_frame.hpp:137
bool _default
Definition: rs_frame.hpp:198
Definition: rs_frame.hpp:819
void rs2_get_video_stream_intrinsics(const rs2_stream_profile *mode, rs2_intrinsics *intrinsics, rs2_error **error)
Definition: rs_sensor.h:45
unsigned long long get_frame_number() const
Definition: rs_frame.hpp:514
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.
Definition: rs_sensor.h:87
Definition: rs_types.h:142
iterator end() const
Definition: rs_frame.hpp:1117
iterator(const frameset *owner, size_t index=0)
Definition: rs_frame.hpp:1105
bool is_cloned()
Definition: rs_frame.hpp:169
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:652
const void * get_data() const
Definition: rs_frame.hpp:538
const char * rs2_stream_to_string(rs2_stream stream)
void on_frame(rs2_frame *fref) override
Definition: rs_frame.hpp:1129
Definition: rs_sensor.h:42
long long rs2_metadata_type
Definition: rs_types.h:245
points(const frame &f)
Definition: rs_frame.hpp:724
Definition: rs_frame.hpp:329
Definition: rs_types.h:149
int get_stride_in_bytes() const
Definition: rs_frame.hpp:676
rs2_vertex * rs2_get_frame_vertices(const rs2_frame *frame, rs2_error **error)
disparity_frame(const frame &f)
Definition: rs_frame.hpp:826
int width() const
Definition: rs_frame.hpp:225
void rs2_frame_add_ref(rs2_frame *frame, rs2_error **error)
Video stream intrinsics.
Definition: rs_types.h:57
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)
Definition: rs_processing.hpp:578
int height() const
Definition: rs_frame.hpp:230
rs2_pose get_pose_data() const
Definition: rs_frame.hpp:898
bool operator!=(const iterator &other) const
Definition: rs_frame.hpp:1108
bool operator==(const stream_profile &rhs)
Definition: rs_frame.hpp:79
Motion device intrinsics: scale, bias, and variances.
Definition: rs_types.h:70
depth_frame get_depth_frame() const
Definition: rs_frame.hpp:971
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:170
void rs2_release_frame(rs2_frame *frame)
rs2_metadata_type get_frame_metadata(rs2_frame_metadata_value frame_metadata) const
Definition: rs_frame.hpp:490
frameset(const frame &f)
Definition: rs_frame.hpp:919
Definition: rs_frame.hpp:707
rs2_frame * rs2_extract_frame(rs2_frame *composite, int index, rs2_error **error)
size_t size() const
Definition: rs_frame.hpp:1062
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:209
bool supports_frame_metadata(rs2_frame_metadata_value frame_metadata) const
Definition: rs_frame.hpp:502
rs2_stream stream_type() const
Definition: rs_frame.hpp:39
float x
Definition: rs_frame.hpp:704
Definition: rs_frame.hpp:201
Definition: rs_frame.hpp:877
frame(const frame &other)
Definition: rs_frame.hpp:393
rs2_intrinsics get_intrinsics() const
Definition: rs_frame.hpp:238
const int get_data_size() const
Definition: rs_frame.hpp:526
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:1019
rs2_frame * get() const
Definition: rs_frame.hpp:583
void rs2_pose_frame_get_pose_data(const rs2_frame *frame, rs2_pose *pose, rs2_error **error)
frame()
Definition: rs_frame.hpp:342
float v
Definition: rs_frame.hpp:708
stream_profile clone(rs2_stream type, int index, rs2_format format) const
Definition: rs_frame.hpp:63
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:211
const void * rs2_get_frame_data(const rs2_frame *frame, rs2_error **error)
float get_baseline(void) const
Definition: rs_frame.hpp:840
pose_stream_profile(const stream_profile &sp)
Definition: rs_frame.hpp:314
rs2_stream _type
Definition: rs_frame.hpp:196
Definition: rs_frame.hpp:703
stream_profile get_profile() const
Definition: rs_frame.hpp:550
const vertex * get_vertices() const
Definition: rs_frame.hpp:744
Definition: rs_frame.hpp:786
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:54