Detailed Description

Definition at line 912 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

Inheritance diagram for rs2::pose_frame:

Collaboration diagram for rs2::pose_frame:

Public Member Functions
	pose_frame (const frame &f)
	Extends the frame class with additional pose related attributes and functions. More...

rs2_pose	get_pose_data () const
	Retrieve the pose data from T2xx position tracking sensor. More...

	pose_frame (const frame &f)
	Extends the frame class with additional pose related attributes and functions. More...

rs2_pose	get_pose_data () const
	Retrieve the pose data from T2xx position tracking sensor. More...

void	swap (frame &other)
	Swap the internal frame handle with the one in parameter. More...

void	swap (frame &other)
	Swap the internal frame handle with the one in parameter. More...

void	keep ()
	keep the frame, otherwise if no refernce to the frame, the frame will be released. More...

void	keep ()
	keep the frame, otherwise if no refernce to the frame, the frame will be released. More...

	operator bool () const
	Parenthesis operator check if internal frame handle is valid. More...

	operator bool () const
	Parenthesis operator check if internal frame handle is valid. More...

rs2_sensor *	get_sensor ()

rs2_sensor *	get_sensor ()

double	get_timestamp () const
	retrieve the time at which the frame was captured During the frame's lifetime it receives timestamps both at the device and host levels. More...

double	get_timestamp () const
	retrieve the time at which the frame was captured During the frame's lifetime it receives timestamps both at the device and host levels. More...

rs2_timestamp_domain	get_frame_timestamp_domain () const
	retrieve the timestamp domain More...

rs2_timestamp_domain	get_frame_timestamp_domain () const
	retrieve the timestamp domain More...

rs2_metadata_type	get_frame_metadata (rs2_frame_metadata_value frame_metadata) const
	retrieve the current value of a single frame_metadata More...

rs2_metadata_type	get_frame_metadata (rs2_frame_metadata_value frame_metadata) const
	retrieve the current value of a single frame_metadata More...

bool	supports_frame_metadata (rs2_frame_metadata_value frame_metadata) const
	determine if the device allows a specific metadata to be queried More...

bool	supports_frame_metadata (rs2_frame_metadata_value frame_metadata) const
	determine if the device allows a specific metadata to be queried More...

unsigned long long	get_frame_number () const
	retrieve frame number (from frame handle) More...

unsigned long long	get_frame_number () const
	retrieve frame number (from frame handle) More...

const int	get_data_size () const
	retrieve data size from frame handle More...

const int	get_data_size () const
	retrieve data size from frame handle More...

const void *	get_data () const
	retrieve data from frame handle More...

const void *	get_data () const
	retrieve data from frame handle More...

stream_profile	get_profile () const
	retrieve stream profile from frame handle More...

stream_profile	get_profile () const
	retrieve stream profile from frame handle More...

template<class T >
bool	is () const
	Template function, checking if current instance is the type of another class. More...

template<class T >
bool	is () const
	Template function, checking if current instance is the type of another class. More...

template<class T >
T	as () const
	Template function, cast current instance as the type of another class. More...

template<class T >
T	as () const
	Template function, cast current instance as the type of another class. More...

rs2_frame *	get () const
	Retrieve back the internal frame handle. More...

rs2_frame *	get () const
	Retrieve back the internal frame handle. More...

	operator rs2_frame * ()

	operator rs2_frame * ()

frame	apply_filter (filter_interface &filter)

frame	apply_filter (filter_interface &filter)

Protected Member Functions
void	add_ref () const
	add additional reference to a frame without duplicating frame data More...

void	add_ref () const
	add additional reference to a frame without duplicating frame data More...

void	reset ()

void	reset ()

Constructor & Destructor Documentation

◆ pose_frame() [1/2]

rs2::pose_frame::pose_frame ( const frame & f )

inline

Extends the frame class with additional pose related attributes and functions.

Parameters

[in] frame - existing frame instance

Definition at line 919 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::frame::get(), rs2::error::handle(), rs2::frame::reset(), RS2_EXTENSION_POSE_FRAME, and rs2_is_frame_extendable_to().

◆ pose_frame() [2/2]

rs2::pose_frame::pose_frame ( const frame & f )

inline

Extends the frame class with additional pose related attributes and functions.

Parameters

[in] frame - existing frame instance

Definition at line 919 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), rs2::frame::reset(), RS2_EXTENSION_POSE_FRAME, and rs2_is_frame_extendable_to().

Member Function Documentation

◆ add_ref() [1/2]

void rs2::frame::add_ref ( ) const

inlineprotectedinherited

add additional reference to a frame without duplicating frame data

Parameters

[out] result new frame reference, release by destructor

Returns: true if cloning was successful

Definition at line 604 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_frame_add_ref().

Referenced by rs2::frame::frame().

◆ add_ref() [2/2]

void rs2::frame::add_ref ( ) const

inlineprotectedinherited

add additional reference to a frame without duplicating frame data

Parameters

[out] result new frame reference, release by destructor

Returns: true if cloning was successful

Definition at line 604 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_frame_add_ref().

◆ apply_filter() [1/2]

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

inlineinherited

Definition at line 593 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::filter::process().

◆ apply_filter() [2/2]

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

inlineinherited

Definition at line 593 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::filter::process().

◆ as() [1/2]

template<class T >

T rs2::frame::as ( ) const

inlineinherited

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

Returns: class instance.

Definition at line 580 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

Referenced by rs2::frameset::get_pose_frame().

◆ as() [2/2]

template<class T >

T rs2::frame::as ( ) const

inlineinherited

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

Returns: class instance.

Definition at line 580 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

◆ get() [1/2]

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

inlineinherited

Retrieve back the internal frame handle.

Returns: rs2_frame - internal frame handle.

Definition at line 590 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

◆ get() [2/2]

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

inlineinherited

Retrieve back the internal frame handle.

Returns: rs2_frame - internal frame handle.

Definition at line 590 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

Referenced by rs2::frame_source::allocate_motion_frame(), rs2::frame_source::allocate_points(), rs2::frame_source::allocate_video_frame(), rs2::depth_frame::depth_frame(), rs2::disparity_frame::disparity_frame(), rs2::points::export_to_ply(), rs2::video_frame::extract_target_dimensions(), rs2::frameset::foreach_rs(), rs2::frame_source::frame_ready(), rs2::frameset::frameset(), rs2::disparity_frame::get_baseline(), rs2::video_frame::get_bits_per_pixel(), rs2::depth_frame::get_distance(), rs2::video_frame::get_height(), get_pose_data(), rs2::video_frame::get_stride_in_bytes(), rs2::points::get_texture_coordinates(), rs2::depth_frame::get_units(), rs2::points::get_vertices(), rs2::video_frame::get_width(), rs2::motion_frame::motion_frame(), rs2::frameset::operator[](), rs2::points::points(), pose_frame(), and rs2::video_frame::video_frame().

◆ get_data() [1/2]

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

inlineinherited

retrieve data from frame handle

Returns: the pointer to the start of the frame data

Definition at line 545 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_data().

Referenced by rs2::motion_frame::get_motion_data().

◆ get_data() [2/2]

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

inlineinherited

retrieve data from frame handle

Returns: the pointer to the start of the frame data

Definition at line 545 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_data().

◆ get_data_size() [1/2]

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

inlineinherited

retrieve data size from frame handle

Returns: the number of bytes in frame

Definition at line 533 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_data_size().

◆ get_data_size() [2/2]

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

inlineinherited

retrieve data size from frame handle

Returns: the number of bytes in frame

Definition at line 533 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_data_size().

◆ get_frame_metadata() [1/2]

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

inlineinherited

retrieve the current value of a single frame_metadata

Parameters

[in] frame_metadata the frame_metadata whose value should be retrieved

Returns: the value of the frame_metadata

Definition at line 497 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_metadata().

◆ get_frame_metadata() [2/2]

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

inlineinherited

retrieve the current value of a single frame_metadata

Parameters

[in] frame_metadata the frame_metadata whose value should be retrieved

Returns: the value of the frame_metadata

Definition at line 497 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_metadata().

◆ get_frame_number() [1/2]

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

inlineinherited

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 sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_number().

◆ get_frame_number() [2/2]

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

inlineinherited

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 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_number().

◆ get_frame_timestamp_domain() [1/2]

rs2_timestamp_domain rs2::frame::get_frame_timestamp_domain ( ) const

inlineinherited

retrieve the timestamp domain

Returns: timestamp domain (clock name) for timestamp values

Definition at line 485 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_timestamp_domain().

◆ get_frame_timestamp_domain() [2/2]

rs2_timestamp_domain rs2::frame::get_frame_timestamp_domain ( ) const

inlineinherited

retrieve the timestamp domain

Returns: timestamp domain (clock name) for timestamp values

Definition at line 485 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_timestamp_domain().

◆ get_pose_data() [1/2]

rs2_pose rs2::pose_frame::get_pose_data ( ) const

inline

Retrieve the pose data from T2xx position tracking sensor.

Returns: rs2_pose - orientation and velocity data.

Definition at line 933 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::frame::get(), rs2::error::handle(), and rs2_pose_frame_get_pose_data().

◆ get_pose_data() [2/2]

rs2_pose rs2::pose_frame::get_pose_data ( ) const

inline

Retrieve the pose data from T2xx position tracking sensor.

Returns: rs2_pose - orientation and velocity data.

Definition at line 933 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::frame::get(), rs2::error::handle(), and rs2_pose_frame_get_pose_data().

◆ get_profile() [1/2]

stream_profile rs2::frame::get_profile ( ) const

inlineinherited

retrieve stream profile from frame handle

Returns: stream_profile - the pointer to the stream profile

Definition at line 557 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_stream_profile().

Referenced by rs2::frameset::first_or_default(), rs2::frameset::get_fisheye_frame(), rs2::frameset::get_infrared_frame(), rs2::frameset::get_pose_frame(), and rs2::pointcloud::map_to().

◆ get_profile() [2/2]

stream_profile rs2::frame::get_profile ( ) const

inlineinherited

retrieve stream profile from frame handle

Returns: stream_profile - the pointer to the stream profile

Definition at line 557 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_stream_profile().

◆ get_sensor() [1/2]

rs2_sensor* rs2::frame::get_sensor ( )

inlineinherited

Definition at line 445 of file sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_sensor().

Referenced by rs2::sensor_from_frame().

◆ get_sensor() [2/2]

rs2_sensor* rs2::frame::get_sensor ( )

inlineinherited

Definition at line 445 of file 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_sensor().

◆ get_timestamp() [1/2]

double rs2::frame::get_timestamp ( ) const

inlineinherited

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 sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_timestamp().

◆ get_timestamp() [2/2]

double rs2::frame::get_timestamp ( ) const

inlineinherited

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 9.2/sources/libs/ds3d/3rdparty/realsense2/include/librealsense2/hpp/rs_frame.hpp.

References rs2::error::handle(), and rs2_get_frame_timestamp().