#include <rs_frame.hpp>

Inheritance diagram for rs2::frame:

Public Member Functions
	frame ()

	frame (rs2_frame *ref)

	frame (frame &&other) noexcept

frame &	operator= (frame other)

	frame (const frame &other)

void	swap (frame &other)

	~frame ()

void	keep ()

	operator bool () const

rs2_sensor *	get_sensor ()

double	get_timestamp () const

rs2_timestamp_domain	get_frame_timestamp_domain () const

rs2_metadata_type	get_frame_metadata (rs2_frame_metadata_value frame_metadata) const

bool	supports_frame_metadata (rs2_frame_metadata_value frame_metadata) const

unsigned long long	get_frame_number () const

const int	get_data_size () const

const void *	get_data () const

stream_profile	get_profile () const

template<class T >
bool	is () const

template<class T >
T	as () const

rs2_frame *	get () const

	operator rs2_frame * ()

frame	apply_filter (filter_interface &filter)

Protected Member Functions
void	add_ref () const

void	reset ()

Friends
class	rs2::frame_source

class	rs2::frame_queue

class	rs2::syncer

class	rs2::processing_block

class	rs2::pointcloud

class	rs2::points

Constructor & Destructor Documentation

◆ frame() [1/4]

rs2::frame::frame ( )

inline

Base class for multiple frame extensions

◆ frame() [2/4]

rs2::frame::frame ( rs2_frame * ref )

inline

Base class for multiple frame extensions with internal frame handle

Parameters

[in] rs2_frame frame_ref - internal frame instance

◆ frame() [3/4]

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] frame other - another frame instance to be pointed to

◆ frame() [4/4]

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] frame other - another frame instance to be pointed to

◆ ~frame()

rs2::frame::~frame ( )

inline

releases the frame handle

Member Function Documentation

◆ add_ref()

void rs2::frame::add_ref ( ) const

inlineprotected

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

◆ apply_filter()

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

inline

◆ as()

template<class T >

T rs2::frame::as ( ) const

inline

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

Returns: class instance.

◆ get()

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

inline

Retrieve back the internal frame handle

Returns: rs2_frame - internal frame handle.

◆ get_data()

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

inline

retrieve data from frame handle

Returns: the pointer to the start of the frame data

◆ get_data_size()

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

inline

retrieve data size from frame handle

Returns: the number of bytes in frame

◆ get_frame_metadata()

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_metadata the frame_metadata whose value should be retrieved

Returns: the value of the frame_metadata

◆ get_frame_number()

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

◆ get_frame_timestamp_domain()

rs2_timestamp_domain rs2::frame::get_frame_timestamp_domain ( ) const

inline

retrieve the timestamp domain

Returns: timestamp domain (clock name) for timestamp values

◆ get_profile()

stream_profile rs2::frame::get_profile ( ) const

inline

retrieve stream profile from frame handle

Returns: stream_profile - the pointer to the stream profile

◆ get_sensor()

rs2_sensor* rs2::frame::get_sensor ( )

inline

◆ get_timestamp()

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

◆ is()

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.

◆ keep()

void rs2::frame::keep ( )

inline

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

◆ operator bool()

rs2::frame::operator bool ( ) const

inline

Parenthesis operator check if internal frame handle is valid.

Returns: bool - true or false.

◆ operator rs2_frame *()

rs2::frame::operator rs2_frame * ( )

inlineexplicit

◆ operator=()

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] frame other - another frame instance to be pointed to

◆ reset()

void rs2::frame::reset ( )

inlineprotected

◆ supports_frame_metadata()

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_metadata the frame_metadata to check for support

Returns: true if the frame_metadata can be queried

◆ swap()

void rs2::frame::swap ( frame & other )

inline

Swap the internal frame handle with the one in parameter

Parameters

[in] frame other - another frame instance to be swaped

Friends And Related Function Documentation

◆ rs2::frame_queue

friend class rs2::frame_queue

friend

◆ rs2::frame_source

friend class rs2::frame_source

friend

◆ rs2::pointcloud

friend class rs2::pointcloud

friend

◆ rs2::points

friend class rs2::points

friend

◆ rs2::processing_block

friend class rs2::processing_block

friend

◆ rs2::syncer

friend class rs2::syncer

friend

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

C:/jenkins_sys_rsbuild/workspace/LRS_doxygen_pipeline/source/include/librealsense2/hpp/rs_frame.hpp

Public Member Functions

Protected Member Functions

Friends

Constructor & Destructor Documentation

◆ frame() [1/4]

◆ frame() [2/4]

◆ frame() [3/4]

◆ frame() [4/4]

◆ ~frame()

Member Function Documentation

◆ add_ref()

◆ apply_filter()

◆ as()

◆ get()

◆ get_data()

◆ get_data_size()

◆ get_frame_metadata()

◆ get_frame_number()

◆ get_frame_timestamp_domain()

◆ get_profile()

◆ get_sensor()

◆ get_timestamp()

◆ is()

◆ keep()

◆ operator bool()

◆ operator rs2_frame *()

◆ operator=()

◆ reset()

◆ supports_frame_metadata()

◆ swap()

Friends And Related Function Documentation

◆ rs2::frame_queue

◆ rs2::frame_source

◆ rs2::pointcloud

◆ rs2::points

◆ rs2::processing_block

◆ rs2::syncer