Exposes RealSense frame functionality for C compilers. More...

#include "rs_types.h"

Typedefs
typedef enum rs2_timestamp_domain	rs2_timestamp_domain
	Specifies the clock in relation to which the frame timestamp was measured. 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_calib_target_type	rs2_calib_target_type
	Calibration target type. More...

Enumerations
enum	rs2_timestamp_domain { RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME, RS2_TIMESTAMP_DOMAIN_GLOBAL_TIME, RS2_TIMESTAMP_DOMAIN_COUNT }
	Specifies the clock in relation to which the frame timestamp was measured. More...

enum	rs2_frame_metadata_value { RS2_FRAME_METADATA_FRAME_COUNTER, RS2_FRAME_METADATA_FRAME_TIMESTAMP, RS2_FRAME_METADATA_SENSOR_TIMESTAMP, RS2_FRAME_METADATA_ACTUAL_EXPOSURE, RS2_FRAME_METADATA_GAIN_LEVEL, RS2_FRAME_METADATA_AUTO_EXPOSURE, RS2_FRAME_METADATA_WHITE_BALANCE, RS2_FRAME_METADATA_TIME_OF_ARRIVAL, RS2_FRAME_METADATA_TEMPERATURE, RS2_FRAME_METADATA_BACKEND_TIMESTAMP, RS2_FRAME_METADATA_ACTUAL_FPS, RS2_FRAME_METADATA_FRAME_LASER_POWER, RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE, RS2_FRAME_METADATA_EXPOSURE_PRIORITY, RS2_FRAME_METADATA_EXPOSURE_ROI_LEFT, RS2_FRAME_METADATA_EXPOSURE_ROI_RIGHT, RS2_FRAME_METADATA_EXPOSURE_ROI_TOP, RS2_FRAME_METADATA_EXPOSURE_ROI_BOTTOM, RS2_FRAME_METADATA_BRIGHTNESS, RS2_FRAME_METADATA_CONTRAST, RS2_FRAME_METADATA_SATURATION, RS2_FRAME_METADATA_SHARPNESS, RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE, RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION, RS2_FRAME_METADATA_HUE, RS2_FRAME_METADATA_GAMMA, RS2_FRAME_METADATA_MANUAL_WHITE_BALANCE, RS2_FRAME_METADATA_POWER_LINE_FREQUENCY, RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION, RS2_FRAME_METADATA_FRAME_EMITTER_MODE, RS2_FRAME_METADATA_FRAME_LED_POWER, RS2_FRAME_METADATA_RAW_FRAME_SIZE, RS2_FRAME_METADATA_GPIO_INPUT_DATA, RS2_FRAME_METADATA_SEQUENCE_NAME, RS2_FRAME_METADATA_SEQUENCE_ID, RS2_FRAME_METADATA_SEQUENCE_SIZE, RS2_FRAME_METADATA_TRIGGER, RS2_FRAME_METADATA_PRESET, RS2_FRAME_METADATA_INPUT_WIDTH, RS2_FRAME_METADATA_INPUT_HEIGHT, RS2_FRAME_METADATA_SUB_PRESET_INFO, RS2_FRAME_METADATA_CALIB_INFO, RS2_FRAME_METADATA_CRC, RS2_FRAME_METADATA_COUNT }
	Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame. More...

enum	rs2_calib_target_type { RS2_CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES, RS2_CALIB_TARGET_ROI_RECT_GAUSSIAN_DOT_VERTICES, RS2_CALIB_TARGET_POS_GAUSSIAN_DOT_VERTICES, RS2_CALIB_TARGET_COUNT }
	Calibration target type. More...

Functions
const char *	rs2_timestamp_domain_to_string (rs2_timestamp_domain info)

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)

const char *	rs2_calib_target_type_to_string (rs2_calib_target_type type)

rs2_metadata_type	rs2_get_frame_metadata (const rs2_frame frame, rs2_frame_metadata_value frame_metadata, rs2_error *error)

int	rs2_supports_frame_metadata (const rs2_frame frame, rs2_frame_metadata_value frame_metadata, rs2_error *error)

rs2_timestamp_domain	rs2_get_frame_timestamp_domain (const rs2_frame frameset, rs2_error *error)

rs2_time_t	rs2_get_frame_timestamp (const rs2_frame frame, rs2_error *error)

rs2_sensor *	rs2_get_frame_sensor (const rs2_frame frame, rs2_error *error)

unsigned long long	rs2_get_frame_number (const rs2_frame frame, rs2_error *error)

int	rs2_get_frame_data_size (const rs2_frame frame, rs2_error *error)

const void *	rs2_get_frame_data (const rs2_frame frame, rs2_error *error)

int	rs2_get_frame_width (const rs2_frame frame, rs2_error *error)

int	rs2_get_frame_height (const rs2_frame frame, rs2_error *error)

float	rs2_depth_frame_get_units (const rs2_frame frame, rs2_error *error)

int	rs2_get_frame_stride_in_bytes (const rs2_frame frame, rs2_error *error)

int	rs2_get_frame_bits_per_pixel (const rs2_frame frame, rs2_error *error)

void	rs2_frame_add_ref (rs2_frame frame, rs2_error *error)

void	rs2_release_frame (rs2_frame *frame)

void	rs2_keep_frame (rs2_frame *frame)

rs2_vertex *	rs2_get_frame_vertices (const rs2_frame frame, rs2_error *error)

void	rs2_export_to_ply (const rs2_frame frame, const char fname, rs2_frame texture, rs2_error *error)

rs2_pixel *	rs2_get_frame_texture_coordinates (const rs2_frame frame, rs2_error *error)

int	rs2_get_frame_points_count (const rs2_frame frame, rs2_error *error)

const rs2_stream_profile *	rs2_get_frame_stream_profile (const rs2_frame frame, rs2_error *error)

int	rs2_is_frame_extendable_to (const rs2_frame frame, rs2_extension extension_type, rs2_error *error)

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)

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)

rs2_frame *	rs2_allocate_points (rs2_source source, const rs2_stream_profile new_stream, rs2_frame original, rs2_error *error)

rs2_frame *	rs2_allocate_composite_frame (rs2_source source, rs2_frame frames, int count, rs2_error *error)

rs2_frame *	rs2_extract_frame (rs2_frame composite, int index, rs2_error *error)

int	rs2_embedded_frames_count (rs2_frame composite, rs2_error *error)

void	rs2_synthetic_frame_ready (rs2_source source, rs2_frame frame, rs2_error **error)

void	rs2_pose_frame_get_pose_data (const rs2_frame frame, rs2_pose pose, rs2_error **error)

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)

Detailed Description

Exposes RealSense frame functionality for C compilers.

Typedef Documentation

◆ rs2_calib_target_type

typedef enum rs2_calib_target_type rs2_calib_target_type

Calibration target type.

◆ rs2_frame_metadata_value

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.

◆ rs2_timestamp_domain

typedef enum rs2_timestamp_domain rs2_timestamp_domain

Specifies the clock in relation to which the frame timestamp was measured.

Enumeration Type Documentation

◆ rs2_calib_target_type

enum rs2_calib_target_type

Calibration target type.

Enumerator
RS2_CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES	Flat rectangle with vertices as the centers of Gaussian dots
RS2_CALIB_TARGET_ROI_RECT_GAUSSIAN_DOT_VERTICES	Flat rectangle with vertices as the centers of Gaussian dots with target inside the ROI
RS2_CALIB_TARGET_POS_GAUSSIAN_DOT_VERTICES	Positions of vertices as the centers of Gaussian dots with target inside the ROI
RS2_CALIB_TARGET_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

◆ rs2_frame_metadata_value

enum rs2_frame_metadata_value

Per-Frame-Metadata is the set of read-only properties that might be exposed for each individual frame.

Enumerator
RS2_FRAME_METADATA_FRAME_COUNTER	A sequential index managed per-stream. Integer value
RS2_FRAME_METADATA_FRAME_TIMESTAMP	Timestamp set by device clock when data readout and transmit commence. usec
RS2_FRAME_METADATA_SENSOR_TIMESTAMP	Timestamp of the middle of sensor's exposure calculated by device. usec
RS2_FRAME_METADATA_ACTUAL_EXPOSURE	Sensor's exposure width. When Auto Exposure (AE) is on the value is controlled by firmware. usec
RS2_FRAME_METADATA_GAIN_LEVEL	A relative value increasing which will increase the Sensor's gain factor. \ When AE is set On, the value is controlled by firmware. Integer value
RS2_FRAME_METADATA_AUTO_EXPOSURE	Auto Exposure Mode indicator. Zero corresponds to AE switched off.
RS2_FRAME_METADATA_WHITE_BALANCE	White Balance setting as a color temperature. Kelvin degrees
RS2_FRAME_METADATA_TIME_OF_ARRIVAL	Time of arrival in system clock
RS2_FRAME_METADATA_TEMPERATURE	Temperature of the device, measured at the time of the frame capture. Celsius degrees
RS2_FRAME_METADATA_BACKEND_TIMESTAMP	Timestamp get from uvc driver. usec
RS2_FRAME_METADATA_ACTUAL_FPS	Actual fps, times 1000 (30.1 fps would be 30100 in the metadata)
RS2_FRAME_METADATA_FRAME_LASER_POWER	Laser power value 0-360.
RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE	Laser power mode. Zero corresponds to Laser power switched off and one for switched on. deprecated, replaced by RS2_FRAME_METADATA_FRAME_EMITTER_MODE
RS2_FRAME_METADATA_EXPOSURE_PRIORITY	Exposure priority.
RS2_FRAME_METADATA_EXPOSURE_ROI_LEFT	Left region of interest for the auto exposure Algorithm.
RS2_FRAME_METADATA_EXPOSURE_ROI_RIGHT	Right region of interest for the auto exposure Algorithm.
RS2_FRAME_METADATA_EXPOSURE_ROI_TOP	Top region of interest for the auto exposure Algorithm.
RS2_FRAME_METADATA_EXPOSURE_ROI_BOTTOM	Bottom region of interest for the auto exposure Algorithm.
RS2_FRAME_METADATA_BRIGHTNESS	Color image brightness.
RS2_FRAME_METADATA_CONTRAST	Color image contrast.
RS2_FRAME_METADATA_SATURATION	Color image saturation.
RS2_FRAME_METADATA_SHARPNESS	Color image sharpness.
RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE	Auto white balance temperature Mode indicator. Zero corresponds to automatic mode switched off.
RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION	Color backlight compensation. Zero corresponds to switched off.
RS2_FRAME_METADATA_HUE	Color image hue.
RS2_FRAME_METADATA_GAMMA	Color image gamma.
RS2_FRAME_METADATA_MANUAL_WHITE_BALANCE	Color image white balance.
RS2_FRAME_METADATA_POWER_LINE_FREQUENCY	Power Line Frequency for anti-flickering Off/50Hz/60Hz/Auto.
RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION	Color lowlight compensation. Zero corresponds to switched off.
RS2_FRAME_METADATA_FRAME_EMITTER_MODE	Emitter mode: 0 - all emitters disabled. 1 - laser enabled. 2 - auto laser enabled (opt). 3 - LED enabled (opt).
RS2_FRAME_METADATA_FRAME_LED_POWER	Led power value 0-360.
RS2_FRAME_METADATA_RAW_FRAME_SIZE	The number of transmitted payload bytes, not including metadata
RS2_FRAME_METADATA_GPIO_INPUT_DATA	GPIO input data
RS2_FRAME_METADATA_SEQUENCE_NAME	sub-preset id
RS2_FRAME_METADATA_SEQUENCE_ID	sub-preset sequence id
RS2_FRAME_METADATA_SEQUENCE_SIZE	sub-preset sequence size
RS2_FRAME_METADATA_TRIGGER	Frame trigger type
RS2_FRAME_METADATA_PRESET	Preset id, used in MIPI SKU Metadata
RS2_FRAME_METADATA_INPUT_WIDTH	Frame input width in pixels, used as safety attribute
RS2_FRAME_METADATA_INPUT_HEIGHT	Frame input height in pixels, used as safety attribute
RS2_FRAME_METADATA_SUB_PRESET_INFO	Sub-preset information
RS2_FRAME_METADATA_CALIB_INFO	FW-controlled frame counter to be using in Calibration scenarios
RS2_FRAME_METADATA_CRC	CRC checksum of the Metadata
RS2_FRAME_METADATA_COUNT

◆ rs2_timestamp_domain

enum rs2_timestamp_domain

Specifies the clock in relation to which the frame timestamp was measured.

Enumerator
RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK	Frame timestamp was measured in relation to the camera clock
RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME	Frame timestamp was measured in relation to the OS system clock
RS2_TIMESTAMP_DOMAIN_GLOBAL_TIME	Frame timestamp was measured in relation to the camera clock and converted to OS system clock by constantly measure the difference
RS2_TIMESTAMP_DOMAIN_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Function Documentation

◆ rs2_allocate_composite_frame()

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_allocate_points()

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_allocate_synthetic_motion_frame()

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_allocate_synthetic_video_frame()

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

◆ rs2_calib_target_type_to_string()

const char* rs2_calib_target_type_to_string ( rs2_calib_target_type type )

◆ rs2_depth_frame_get_units()

float rs2_depth_frame_get_units	(	const rs2_frame *	frame,
		rs2_error **	error
	)

retrieve the scaling factor to use when converting a depth frame's get_data() units to meters

Returns: float - depth, in meters, per 1 unit stored in the frame data

◆ rs2_embedded_frames_count()

int rs2_embedded_frames_count	(	rs2_frame *	composite,
		rs2_error **	error
	)

Get number of frames embedded within a composite frame

Parameters

[in]	composite	Composite input frame
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: Number of embedded frames

◆ rs2_export_to_ply()

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

◆ rs2_extract_frame()

rs2_frame* rs2_extract_frame	(	rs2_frame *	composite,
		int	index,
		rs2_error **	error
	)

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

◆ rs2_extract_target_dimensions()

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. 4 for RS2_CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES and 8 for RS2_CALIB_TARGET_POS_GAUSSIAN_DOT_VERTICES.
[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 For type RS2_CALIB_TARGET_POS_GAUSSIAN_DOT_VERTICES, the four vertices coordinates 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

◆ rs2_frame_add_ref()

void rs2_frame_add_ref	(	rs2_frame *	frame,
		rs2_error **	error
	)

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

◆ rs2_frame_metadata_to_string()

const char* rs2_frame_metadata_to_string ( rs2_frame_metadata_value metadata )

◆ rs2_frame_metadata_value_to_string()

const char* rs2_frame_metadata_value_to_string ( rs2_frame_metadata_value metadata )

◆ rs2_get_frame_bits_per_pixel()

int rs2_get_frame_bits_per_pixel	(	const rs2_frame *	frame,
		rs2_error **	error
	)

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_get_frame_data()

const void* rs2_get_frame_data	(	const rs2_frame *	frame,
		rs2_error **	error
	)

retrieve data 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 pointer to the start of the frame data

◆ rs2_get_frame_data_size()

int rs2_get_frame_data_size	(	const rs2_frame *	frame,
		rs2_error **	error
	)

retrieve data size 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 size of the frame data

◆ rs2_get_frame_height()

int rs2_get_frame_height	(	const rs2_frame *	frame,
		rs2_error **	error
	)

retrieve frame height in pixels

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: frame height in pixels

◆ rs2_get_frame_metadata()

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

◆ rs2_get_frame_number()

unsigned long long rs2_get_frame_number	(	const rs2_frame *	frame,
		rs2_error **	error
	)

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 number

◆ rs2_get_frame_points_count()

int rs2_get_frame_points_count	(	const rs2_frame *	frame,
		rs2_error **	error
	)

When called on Points frame type, this method returns the number of vertices in the frame

Parameters

[in]	frame	Points frame
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: Number of vertices

◆ rs2_get_frame_sensor()

rs2_sensor* rs2_get_frame_sensor	(	const rs2_frame *	frame,
		rs2_error **	error
	)

retrieve frame parent sensor 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 parent sensor of the frame

◆ rs2_get_frame_stream_profile()

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

◆ rs2_get_frame_stride_in_bytes()

int rs2_get_frame_stride_in_bytes	(	const rs2_frame *	frame,
		rs2_error **	error
	)

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

◆ rs2_get_frame_texture_coordinates()

rs2_pixel* rs2_get_frame_texture_coordinates	(	const rs2_frame *	frame,
		rs2_error **	error
	)

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_get_frame_timestamp()

rs2_time_t rs2_get_frame_timestamp	(	const rs2_frame *	frame,
		rs2_error **	error
	)

retrieve timestamp from frame handle in milliseconds

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 timestamp of the frame in milliseconds

◆ rs2_get_frame_timestamp_domain()

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_get_frame_vertices()

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

◆ rs2_get_frame_width()

int rs2_get_frame_width	(	const rs2_frame *	frame,
		rs2_error **	error
	)

retrieve frame width in pixels

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: frame width in pixels

◆ rs2_is_frame_extendable_to()

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

◆ rs2_keep_frame()

void rs2_keep_frame ( rs2_frame * frame )

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

◆ rs2_pose_frame_get_pose_data()

void rs2_pose_frame_get_pose_data	(	const rs2_frame *	frame,
		rs2_pose *	pose,
		rs2_error **	error
	)

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

◆ rs2_release_frame()

void rs2_release_frame ( rs2_frame * frame )

relases the frame handle

Parameters

[in] frame handle returned from a callback

◆ rs2_supports_frame_metadata()

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

◆ rs2_synthetic_frame_ready()

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

◆ rs2_timestamp_domain_to_string()

const char* rs2_timestamp_domain_to_string ( rs2_timestamp_domain info )

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ rs2_calib_target_type

◆ rs2_frame_metadata_value

◆ rs2_timestamp_domain

Enumeration Type Documentation

◆ rs2_calib_target_type

◆ rs2_frame_metadata_value

◆ rs2_timestamp_domain

Function Documentation

◆ rs2_allocate_composite_frame()

◆ rs2_allocate_points()

◆ rs2_allocate_synthetic_motion_frame()

◆ rs2_allocate_synthetic_video_frame()

◆ rs2_calib_target_type_to_string()

◆ rs2_depth_frame_get_units()

◆ rs2_embedded_frames_count()

◆ rs2_export_to_ply()

◆ rs2_extract_frame()

◆ rs2_extract_target_dimensions()

◆ rs2_frame_add_ref()

◆ rs2_frame_metadata_to_string()

◆ rs2_frame_metadata_value_to_string()

◆ rs2_get_frame_bits_per_pixel()

◆ rs2_get_frame_data()

◆ rs2_get_frame_data_size()

◆ rs2_get_frame_height()

◆ rs2_get_frame_metadata()

◆ rs2_get_frame_number()

◆ rs2_get_frame_points_count()

◆ rs2_get_frame_sensor()

◆ rs2_get_frame_stream_profile()

◆ rs2_get_frame_stride_in_bytes()

◆ rs2_get_frame_texture_coordinates()

◆ rs2_get_frame_timestamp()

◆ rs2_get_frame_timestamp_domain()

◆ rs2_get_frame_vertices()

◆ rs2_get_frame_width()

◆ rs2_is_frame_extendable_to()

◆ rs2_keep_frame()

◆ rs2_pose_frame_get_pose_data()

◆ rs2_release_frame()

◆ rs2_supports_frame_metadata()

◆ rs2_synthetic_frame_ready()

◆ rs2_timestamp_domain_to_string()