rs_frame.h

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/* License: Apache 2.0. See LICENSE file in root directory.
   Copyright(c) 2017 Intel Corporation. All Rights Reserved. */

#ifndef LIBREALSENSE_RS2_FRAME_H
#define LIBREALSENSE_RS2_FRAME_H

#ifdef __cplusplus
extern "C" {
#endif
#include "rs_types.h"

typedef enum rs2_timestamp_domain
{
    RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 
    RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME,    
    RS2_TIMESTAMP_DOMAIN_COUNT           
} rs2_timestamp_domain;
const char* rs2_timestamp_domain_to_string(rs2_timestamp_domain info);

typedef 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_COUNT
} rs2_frame_metadata_value;
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);

typedef struct rs2_vertex
{
    float xyz[3];
} rs2_vertex;

typedef struct rs2_pixel
{
    int ij[2];
} rs2_pixel;

typedef struct rs2_vector
{
    float x, y, z;
}rs2_vector;

typedef struct rs2_quaternion
{
    float x, y, z, w;
}rs2_quaternion;

typedef struct rs2_pose
{
    rs2_vector      translation;          
    rs2_vector      velocity;             
    rs2_vector      acceleration;         
    rs2_quaternion  rotation;             
    rs2_vector      angular_velocity;     
    rs2_vector      angular_acceleration; 
    unsigned int    tracker_confidence;   
    unsigned int    mapper_confidence;    
} rs2_pose;


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);

unsigned long long rs2_get_frame_number(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);

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_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);




#ifdef __cplusplus
}
#endif
#endif