-
Notifications
You must be signed in to change notification settings - Fork 4.8k
/
rs_frame.hpp
1194 lines (1096 loc) · 40 KB
/
rs_frame.hpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#ifndef LIBREALSENSE_RS2_FRAME_HPP
#define LIBREALSENSE_RS2_FRAME_HPP
#include "rs_types.hpp"
namespace rs2
{
class frame_source;
class frame_queue;
class syncer;
class processing_block;
class pointcloud;
class sensor;
class frame;
class pipeline_profile;
class points;
class video_stream_profile;
class stream_profile
{
public:
/**
* Class to store the profile of stream
*/
stream_profile() : _profile(nullptr) {}
/**
* Return the specific stream index
* \return int - stream index
*/
int stream_index() const { return _index; }
/**
* Return the stream type
* \return rs2_stream - stream type
*/
rs2_stream stream_type() const { return _type; }
/**
* Return the stream format
* \return rs2_format - stream format
*/
rs2_format format() const { return _format; }
/**
* Return the stream frame per second
* \return int - frame rate
*/
int fps() const { return _framerate; }
/**
* Return the assigned unique index when the stream was created
* \return int - unique id
*/
int unique_id() const { return _uid; }
/**
* Clone the current profile and change the type, index and format to input parameters
* \param[in] type - will change the stream type from the cloned profile.
* \param[in] index - will change the stream index from the cloned profile.
* \param[in] format - will change the stream format from the cloned profile.
* \return stream_profile - return the cloned stream profile.
*/
stream_profile clone(rs2_stream type, int index, rs2_format format) const
{
rs2_error* e = nullptr;
auto ref = rs2_clone_stream_profile(_profile, type, index, format, &e);
error::handle(e);
stream_profile res(ref);
res._clone = std::shared_ptr<rs2_stream_profile>(ref, [](rs2_stream_profile* r) { rs2_delete_stream_profile(r); });
return res;
}
/**
* Comparison operator, compare if two stream profiles are the same
* \param[in] rhs - stream profile to compare with.
* \return bool - true or false.
*/
bool operator==(const stream_profile& rhs)
{
return stream_index() == rhs.stream_index() &&
stream_type() == rhs.stream_type() &&
format() == rhs.format() &&
fps() == rhs.fps();
}
/**
* Template function, checking if the instance belongs to specific class type
* \return bool - true or false.
*/
template<class T>
bool is() const
{
T extension(*this);
return extension;
}
/**
* Template function, casting the instance as another class type
* \return class instance - pointer or null.
*/
template<class T>
T as() const
{
T extension(*this);
return extension;
}
/**
* Return the string of stream name
* \return string - stream name.
*/
std::string stream_name() const
{
std::stringstream ss;
ss << rs2_stream_to_string(stream_type());
if (stream_index() != 0) ss << " " << stream_index();
return ss.str();
}
/**
* Checks if stream profile is marked/assigned as default, meaning that the profile will be selected when the user requests stream configuration using wildcards (RS2_DEPTH, -1,-1,...
* \return bool - true or false.
*/
bool is_default() const { return _default; }
/**
* Checks if the profile is valid
* \return bool - true or false.
*/
operator bool() const { return _profile != nullptr; }
/**
* Get back the internal stream profile instance
* \return rs2_stream_profile* - internal implementation of the profile class
*/
const rs2_stream_profile* get() const { return _profile; }
/**
Operator implement, return the internal stream profile instance.
* \return rs2_stream_profile* - internal instance to communicate with real implementation.
*/
/**
* Get the extrinsic transformation between two profiles (representing physical sensors)
* \param[in] stream_profile to - the stream profile (another sensor) to be based to return the extrinsic
* \return rs2_stream_profile* - internal instance to communicate with real implementation.
*/
rs2_extrinsics get_extrinsics_to(const stream_profile& to) const
{
rs2_error* e = nullptr;
rs2_extrinsics res;
rs2_get_extrinsics(get(), to.get(), &res, &e);
error::handle(e);
return res;
}
/**
* Assign extrinsic transformation parameters to a specific profile (sensor). The extrinsic information is generally available as part of the camera calibration, and librealsense is responsible for retrieving and assigning these parameters where appropriate.
* This specific function is intended for synthetic/mock-up (software) devices for which the parameters are produced and injected by the user.
* \param[in] stream_profile to - which stream profile to be registered with the extrinsic.
* \param[in] rs2_extrinsics extrinsics - the extrinsics to be registered.
*/
void register_extrinsics_to(const stream_profile& to, rs2_extrinsics extrinsics)
{
rs2_error* e = nullptr;
rs2_register_extrinsics(get(), to.get(), extrinsics, &e);
error::handle(e);
}
bool is_cloned() { return bool(_clone); }
explicit stream_profile(const rs2_stream_profile* profile) : _profile(profile)
{
rs2_error* e = nullptr;
rs2_get_stream_profile_data(_profile, &_type, &_format, &_index, &_uid, &_framerate, &e);
error::handle(e);
_default = !!(rs2_is_stream_profile_default(_profile, &e));
error::handle(e);
}
operator const rs2_stream_profile*() { return _profile; }
explicit operator std::shared_ptr<rs2_stream_profile>() { return _clone; }
protected:
friend class rs2::sensor;
friend class rs2::frame;
friend class rs2::pipeline_profile;
friend class rs2::video_stream_profile;
const rs2_stream_profile* _profile;
std::shared_ptr<rs2_stream_profile> _clone;
int _index = 0;
int _uid = 0;
int _framerate = 0;
rs2_format _format = RS2_FORMAT_ANY;
rs2_stream _type = RS2_STREAM_ANY;
bool _default = false;
};
class video_stream_profile : public stream_profile
{
public:
video_stream_profile() : stream_profile() {}
/**
* Stream profile instance which contains additional video attributes
* \param[in] stream_profile sp - assign exisiting stream_profile to this instance.
*/
explicit video_stream_profile(const stream_profile& sp)
: stream_profile(sp)
{
rs2_error* e = nullptr;
if ((rs2_stream_profile_is(sp.get(), RS2_EXTENSION_VIDEO_PROFILE, &e) == 0 && !e))
{
_profile = nullptr;
}
error::handle(e);
if (_profile)
{
rs2_get_video_stream_resolution(_profile, &_width, &_height, &e);
error::handle(e);
}
}
int width() const
{
return _width;
}
int height() const
{
return _height;
}
/**
* Get stream profile instrinsics attributes
* \return rs2_intrinsics - stream intrinsics.
*/
rs2_intrinsics get_intrinsics() const
{
rs2_error* e = nullptr;
rs2_intrinsics intr;
rs2_get_video_stream_intrinsics(_profile, &intr, &e);
error::handle(e);
return intr;
}
bool operator==(const video_stream_profile& other) const
{
return (((stream_profile&)*this)==other &&
width() == other.width() &&
height() == other.height());
}
using stream_profile::clone;
/**
* Clone current profile and change the type, index and format to input parameters
* \param[in] type - will change the stream type from the cloned profile.
* \param[in] index - will change the stream index from the cloned profile.
* \param[in] format - will change the stream format from the cloned profile.
* \param[in] width - will change the width of the profile
* \param[in] height - will change the height of the profile
* \param[in] intr - will change the intrinsics of the profile
* \return stream_profile - return the cloned stream profile.
*/
stream_profile clone(rs2_stream type, int index, rs2_format format, int width, int height, const rs2_intrinsics& intr) const
{
rs2_error* e = nullptr;
auto ref = rs2_clone_video_stream_profile(_profile, type, index, format, width, height, &intr, &e);
error::handle(e);
stream_profile res(ref);
res._clone = std::shared_ptr<rs2_stream_profile>(ref, [](rs2_stream_profile* r) { rs2_delete_stream_profile(r); });
return res;
}
private:
int _width = 0;
int _height = 0;
};
class motion_stream_profile : public stream_profile
{
public:
/**
* Stream profile instance which contains IMU-specific intrinsics.
* \param[in] stream_profile sp - assign exisiting stream_profile to this instance.
*/
explicit motion_stream_profile(const stream_profile& sp)
: stream_profile(sp)
{
rs2_error* e = nullptr;
if ((rs2_stream_profile_is(sp.get(), RS2_EXTENSION_MOTION_PROFILE, &e) == 0 && !e))
{
_profile = nullptr;
}
error::handle(e);
}
/**
* Returns scale/bias/covariances of a the motion sensors
* \return rs2_motion_device_intrtinsic - stream motion intrinsics
*/
rs2_motion_device_intrinsic get_motion_intrinsics() const
{
rs2_error* e = nullptr;
rs2_motion_device_intrinsic intrin;
rs2_get_motion_intrinsics(_profile, &intrin, &e);
error::handle(e);
return intrin;
}
};
class pose_stream_profile : public stream_profile
{
public:
/**
* Stream profile instance with an explicit pose extension type.
* \param[in] stream_profile sp - assign exisiting stream_profile to this instance.
*/
explicit pose_stream_profile(const stream_profile& sp)
: stream_profile(sp)
{
rs2_error* e = nullptr;
if ((rs2_stream_profile_is(sp.get(), RS2_EXTENSION_POSE_PROFILE, &e) == 0 && !e))
{
_profile = nullptr;
}
error::handle(e);
}
};
/**
Interface for frame filtering functionality
*/
class filter_interface
{
public:
virtual rs2::frame process(rs2::frame frame) const = 0;
virtual ~filter_interface() = default;
};
class frame
{
public:
/**
* Base class for multiple frame extensions
*/
frame() : frame_ref(nullptr) {}
/**
* Base class for multiple frame extensions with internal frame handle
* \param[in] rs2_frame frame_ref - internal frame instance
*/
frame(rs2_frame* ref) : frame_ref(ref)
{
#ifdef _DEBUG
if (ref)
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_number(ref, &e);
if (!e)
frame_number = r;
auto s = rs2_get_frame_stream_profile(ref, &e);
if (!e)
profile = stream_profile(s);
}
else
{
frame_number = 0;
profile = stream_profile();
}
#endif
}
/**
* Change the internal frame handle to the one in parameter, then put the other frame internal frame handle to nullptr
* \param[in] frame other - another frame instance to be pointed to
*/
frame(frame&& other) noexcept : frame_ref(other.frame_ref)
{
other.frame_ref = nullptr;
#ifdef _DEBUG
frame_number = other.frame_number;
profile = other.profile;
#endif
}
/**
* Change the internal frame handle to the one in parameter, the function exchange the internal frame handle.
* \param[in] frame other - another frame instance to be pointed to
*/
frame& operator=(frame other)
{
swap(other);
return *this;
}
/**
* Set the internal frame handle to the one in parameter, the function create additional reference if internal reference exist.
* \param[in] frame other - another frame instance to be pointed to
*/
frame(const frame& other)
: frame_ref(other.frame_ref)
{
if (frame_ref) add_ref();
#ifdef _DEBUG
frame_number = other.frame_number;
profile = other.profile;
#endif
}
/**
* Swap the internal frame handle with the one in parameter
* \param[in] frame other - another frame instance to be swaped
*/
void swap(frame& other)
{
std::swap(frame_ref, other.frame_ref);
#ifdef _DEBUG
std::swap(frame_number, other.frame_number);
std::swap(profile, other.profile);
#endif
}
/**
* releases the frame handle
*/
~frame()
{
if (frame_ref)
{
rs2_release_frame(frame_ref);
}
}
/**
* keep the frame, otherwise if no refernce to the frame, the frame will be released.
*/
void keep() { rs2_keep_frame(frame_ref); }
/**
* Parenthesis operator check if internal frame handle is valid.
* \return bool - true or false.
*/
operator bool() const { return frame_ref != nullptr; }
rs2_sensor* get_sensor()
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_sensor(frame_ref, &e);
error::handle(e);
return r;
}
/**
* 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
* \return the timestamp of the frame, in milliseconds according to the elaborated flow
*/
double get_timestamp() const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_timestamp(frame_ref, &e);
error::handle(e);
return r;
}
/** retrieve the timestamp domain
* \return timestamp domain (clock name) for timestamp values
*/
rs2_timestamp_domain get_frame_timestamp_domain() const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_timestamp_domain(frame_ref, &e);
error::handle(e);
return r;
}
/** retrieve the current value of a single frame_metadata
* \param[in] frame_metadata the frame_metadata whose value should be retrieved
* \return the value of the frame_metadata
*/
rs2_metadata_type get_frame_metadata(rs2_frame_metadata_value frame_metadata) const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_metadata(frame_ref, frame_metadata, &e);
error::handle(e);
return r;
}
/** determine if the device allows a specific metadata to be queried
* \param[in] frame_metadata the frame_metadata to check for support
* \return true if the frame_metadata can be queried
*/
bool supports_frame_metadata(rs2_frame_metadata_value frame_metadata) const
{
rs2_error* e = nullptr;
auto r = rs2_supports_frame_metadata(frame_ref, frame_metadata, &e);
error::handle(e);
return r != 0;
}
/**
* retrieve frame number (from frame handle)
* \return the frame number of the frame, in milliseconds since the device was started
*/
unsigned long long get_frame_number() const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_number(frame_ref, &e);
error::handle(e);
return r;
}
/**
* retrieve data size from frame handle
* \return the number of bytes in frame
*/
const int get_data_size() const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_data_size(frame_ref, &e);
error::handle(e);
return r;
}
/**
* retrieve data from frame handle
* \return the pointer to the start of the frame data
*/
const void* get_data() const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_data(frame_ref, &e);
error::handle(e);
return r;
}
/**
* retrieve stream profile from frame handle
* \return stream_profile - the pointer to the stream profile
*/
stream_profile get_profile() const
{
rs2_error* e = nullptr;
auto s = rs2_get_frame_stream_profile(frame_ref, &e);
error::handle(e);
return stream_profile(s);
}
/**
* Template function, checking if current instance is the type of another class
* \return bool - true or false.
*/
template<class T>
bool is() const
{
T extension(*this);
return extension;
}
/**
* Template function, cast current instance as the type of another class
* \return class instance.
*/
template<class T>
T as() const
{
T extension(*this);
return extension;
}
/**
* Retrieve back the internal frame handle
* \return rs2_frame - internal frame handle.
*/
rs2_frame* get() const { return frame_ref; }
explicit operator rs2_frame*() { return frame_ref; }
frame apply_filter(filter_interface& filter)
{
return filter.process(*this);
}
protected:
/**
* add additional reference to a frame without duplicating frame data
* \param[out] result new frame reference, release by destructor
* \return true if cloning was successful
*/
void add_ref() const
{
rs2_error* e = nullptr;
rs2_frame_add_ref(frame_ref, &e);
error::handle(e);
}
void reset()
{
if (frame_ref)
{
rs2_release_frame(frame_ref);
}
frame_ref = nullptr;
}
private:
friend class rs2::frame_source;
friend class rs2::frame_queue;
friend class rs2::syncer;
friend class rs2::processing_block;
friend class rs2::pointcloud;
friend class rs2::points;
rs2_frame* frame_ref;
#ifdef _DEBUG
stream_profile profile;
unsigned long long frame_number = 0;
#endif
};
class video_frame : public frame
{
public:
/**
* Extends the frame class with additional video related attributes and functions
* \param[in] frame - existing frame instance
*/
video_frame(const frame& f)
: frame(f)
{
rs2_error* e = nullptr;
if (!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_VIDEO_FRAME, &e) == 0 && !e))
{
reset();
}
error::handle(e);
}
/**
* returns image width in pixels
* \return frame width in pixels
*/
int get_width() const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_width(get(), &e);
error::handle(e);
return r;
}
/**
* returns image height in pixels
* \return frame height in pixels
*/
int get_height() const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_height(get(), &e);
error::handle(e);
return r;
}
/**
* retrieve frame stride, meaning the actual line width in memory in bytes (not the logical image width)
* \return stride in bytes
*/
int get_stride_in_bytes() const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_stride_in_bytes(get(), &e);
error::handle(e);
return r;
}
/**
* retrieve bits per pixel
* \return number of bits per one pixel
*/
int get_bits_per_pixel() const
{
rs2_error* e = nullptr;
auto r = rs2_get_frame_bits_per_pixel(get(), &e);
error::handle(e);
return r;
}
/**
* retrieve bytes per pixel
* \return number of bytes per one pixel
*/
int get_bytes_per_pixel() const { return get_bits_per_pixel() / 8; }
/**
* Extract the dimensions on the specific target
* \param[in] frame Left or right camera frame of specified size based on the target type
* \param[in] calib_type Calibration target type
* \param[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
* \param[out] target_dims The array to hold the result target dimensions calculated.
For type RS2_CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES and RS2_CALIB_TARGET_ROI_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
* \param[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
*/
bool extract_target_dimensions(rs2_calib_target_type calib_type, float* target_dims, unsigned int target_dims_size) const
{
rs2_error* e = nullptr;
rs2_extract_target_dimensions(get(), calib_type, target_dims, target_dims_size, &e);
error::handle(e);
return (e == nullptr);
}
};
struct vertex {
float x, y, z;
operator const float*() const { return &x; }
};
struct texture_coordinate {
float u, v;
operator const float*() const { return &u; }
};
class points : public frame
{
public:
/**
* Extends the frame class with additional point cloud related attributes and functions
*/
points() : frame(), _size(0) {}
/**
* Extends the frame class with additional point cloud related attributes and functions
* \param[in] frame - existing frame instance
*/
points(const frame& f)
: frame(f), _size(0)
{
rs2_error* e = nullptr;
if (!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_POINTS, &e) == 0 && !e))
{
reset();
}
error::handle(e);
if (get())
{
_size = rs2_get_frame_points_count(get(), &e);
error::handle(e);
}
}
/**
* Retrieve the vertices of the point cloud
* \param[in] vertex* - pointer of vertex sturcture
*/
const vertex* get_vertices() const
{
rs2_error* e = nullptr;
auto res = rs2_get_frame_vertices(get(), &e);
error::handle(e);
return (const vertex*)res;
}
/**
* Export the point cloud to a PLY file
* \param[in] string fname - file name of the PLY to be saved
* \param[in] video_frame texture - the texture for the PLY.
*/
void export_to_ply(const std::string& fname, video_frame texture)
{
rs2_frame* ptr = nullptr;
std::swap(texture.frame_ref, ptr);
rs2_error* e = nullptr;
rs2_export_to_ply(get(), fname.c_str(), ptr, &e);
error::handle(e);
}
/**
* Retrieve the texture coordinates (uv map) for the point cloud
* \return texture_coordinate* - pointer of texture coordinates.
*/
const texture_coordinate* get_texture_coordinates() const
{
rs2_error* e = nullptr;
auto res = rs2_get_frame_texture_coordinates(get(), &e);
error::handle(e);
return (const texture_coordinate*)res;
}
size_t size() const
{
return _size;
}
private:
size_t _size;
};
class depth_frame : public video_frame
{
public:
/**
* Extends the video_frame class with additional depth related attributes and functions
* \param[in] frame - existing frame instance
*/
depth_frame(const frame& f)
: video_frame(f)
{
rs2_error* e = nullptr;
if (!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_DEPTH_FRAME, &e) == 0 && !e))
{
reset();
}
error::handle(e);
}
/**
* Provide the depth in meters at the given pixel
* \param[in] int x - pixel's x coordinate.
* \param[in] int y - pixel's y coordinate.
* \return float - depth in metric units at given pixel
*/
float get_distance(int x, int y) const
{
rs2_error * e = nullptr;
auto r = rs2_depth_frame_get_distance(get(), x, y, &e);
error::handle(e);
return r;
}
/**
* Provide the scaling factor to use when converting from get_data() units to meters
* \return float - depth, in meters, per 1 unit stored in the frame data
*/
float get_units() const
{
rs2_error * e = nullptr;
auto r = rs2_depth_frame_get_units( get(), &e );
error::handle( e );
return r;
}
};
class disparity_frame : public depth_frame
{
public:
/**
* Extend depth_frame class with additional disparity related attributes/functions
* \param[in] frame - existing frame instance
*/
disparity_frame(const frame& f)
: depth_frame(f)
{
rs2_error* e = nullptr;
if (!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_DISPARITY_FRAME, &e) == 0 && !e))
{
reset();
}
error::handle(e);
}
/**
* Retrieve the distance between the two IR sensors.
* \return float - baseline.
*/
float get_baseline(void) const
{
rs2_error * e = nullptr;
auto r = rs2_depth_stereo_frame_get_baseline(get(), &e);
error::handle(e);
return r;
}
};
class motion_frame : public frame
{
public:
/**
* Extends the frame class with additional motion related attributes and functions
* \param[in] frame - existing frame instance
*/
motion_frame(const frame& f)
: frame(f)
{
rs2_error* e = nullptr;
if (!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_MOTION_FRAME, &e) == 0 && !e))
{
reset();
}
error::handle(e);
}
/**
* Retrieve the motion data for frames with RS2_FORMAT_MOTION_XYZ32F, RS2_STREAM_GYRO or RS2_STREAM_ACCEL.
* For RS2_STREAM_MOTION and RS2_FORMAT_COMBINED_MOTION, use get_combined_motion_data().
* \return rs2_vector - 3D vector in Euclidean coordinate space.
*/
rs2_vector get_motion_data() const
{
auto data = reinterpret_cast<const float*>(get_data());
return rs2_vector{ data[0], data[1], data[2] };
}
/**
* Retrieve the combined motion data for frames with RS2_FORMAT_COMBINED_MOTION and RS2_STREAM_MOTION.
* For RS2_FORMAT_MOTION_XYZ32F and RS2_STREAM_GYRO or RS2_STREAM_ACCEL, use get_motion_data().
* \return rs2_combined_motion - including linear acceleration and angular velocity.
*/
rs2_combined_motion get_combined_motion_data() const
{
return *reinterpret_cast< rs2_combined_motion const * >( get_data() );
}
};
class pose_frame : public frame
{
public:
/**
* Extends the frame class with additional pose related attributes and functions
* \param[in] frame - existing frame instance
*/
pose_frame(const frame& f)
: frame(f)
{
rs2_error* e = nullptr;
if (!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_POSE_FRAME, &e) == 0 && !e))
{
reset();
}
error::handle(e);
}
/**
* Retrieve the pose data from T2xx position tracking sensor
* \return rs2_pose - orientation and velocity data.
*/
rs2_pose get_pose_data() const
{
rs2_pose pose_data;
rs2_error* e = nullptr;
rs2_pose_frame_get_pose_data(get(), &pose_data, &e);
error::handle(e);
return pose_data;
}
};
class frameset : public frame
{
public:
/**
* Extends the frame class with additional frameset related attributes and functions
*/
frameset() :_size(0) {};
/**
* Extends the frame class with additional frameset related attributes and functions
* \param[in] frame - existing frame instance
*/
frameset(const frame& f)
: frame(f), _size(0)
{
rs2_error* e = nullptr;
if (!f || (rs2_is_frame_extendable_to(f.get(), RS2_EXTENSION_COMPOSITE_FRAME, &e) == 0 && !e))
{
reset();
// TODO - consider explicit constructor to move resultion to compile time
}
error::handle(e);
if (get())
{
_size = rs2_embedded_frames_count(get(), &e);
error::handle(e);
}
}
/**
* Retrieve the first frame of a specific stream and optionally with a specific format. If no frame is found, return an empty frame instance.
* \param[in] rs2_stream s - frame to be retrieved from this stream type.
* \param[in] rs2_format f - frame to be retrieved from this format type.
* \return frame - first found frame with s stream type.
*/
frame first_or_default(rs2_stream s, rs2_format f = RS2_FORMAT_ANY) const
{
frame result;
foreach_rs([&result, s, f](frame frm) {
if (!result && frm.get_profile().stream_type() == s && (f == RS2_FORMAT_ANY || f == frm.get_profile().format()))
{
result = std::move(frm);
}
});