rs_frame.h

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/* License: Apache 2.0. See LICENSE file in root directory.
   Copyright(c) 2017 RealSense, Inc. 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_GLOBAL_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_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_SAFETY_DEPTH_FRAME_COUNTER           , 
    RS2_FRAME_METADATA_SAFETY_LEVEL1                        , 
    RS2_FRAME_METADATA_SAFETY_LEVEL1_ORIGIN                 , 
    RS2_FRAME_METADATA_SAFETY_LEVEL2                        , 
    RS2_FRAME_METADATA_SAFETY_LEVEL2_ORIGIN                 , 
    RS2_FRAME_METADATA_SAFETY_LEVEL1_VERDICT                , 
    RS2_FRAME_METADATA_SAFETY_LEVEL2_VERDICT                , 
    RS2_FRAME_METADATA_SAFETY_OPERATIONAL_MODE              , 
    RS2_FRAME_METADATA_SAFETY_VISION_VERDICT                , 
    RS2_FRAME_METADATA_SAFETY_HARA_EVENTS                   , 
    RS2_FRAME_METADATA_SAFETY_PRESET_INTEGRITY              , 
    RS2_FRAME_METADATA_SAFETY_PRESET_ID_SELECTED            , 
    RS2_FRAME_METADATA_SAFETY_PRESET_ID_USED                , 
    RS2_FRAME_METADATA_SAFETY_SIP_DEGRADATION_USED          , 
    RS2_FRAME_METADATA_SAFETY_SIP_GENERIC_METRICS_ACTIVATE  , 
    RS2_FRAME_METADATA_SAFETY_SIP_GENERIC_METRICS_STATE     , 
    RS2_FRAME_METADATA_SAFETY_SIP_GENERIC_METRICS_VALUE1    , 
    RS2_FRAME_METADATA_SAFETY_SIP_GENERIC_METRICS_VALUE2    , 
    RS2_FRAME_METADATA_SAFETY_SIP_GENERIC_METRICS_THRESHOLD1, 
    RS2_FRAME_METADATA_SAFETY_SIP_GENERIC_METRICS_THRESHOLD2, 
    RS2_FRAME_METADATA_SAFETY_ZERO_MONITORING_ENABLED       , 
    RS2_FRAME_METADATA_SAFETY_HARA_HISTORY_MODE             , 
    RS2_FRAME_METADATA_SAFETY_SOC_FUSA_EVENTS               , 
    RS2_FRAME_METADATA_SAFETY_SOC_FUSA_ACTION               , 
    RS2_FRAME_METADATA_SAFETY_SOC_L0_COUNTER                , 
    RS2_FRAME_METADATA_SAFETY_SOC_L0_RATE                   , 
    RS2_FRAME_METADATA_SAFETY_SOC_L1_COUNTER                , 
    RS2_FRAME_METADATA_SAFETY_SOC_L1_RATE                   , 
    RS2_FRAME_METADATA_SAFETY_SOC_GMT_STATUS                , 
    RS2_FRAME_METADATA_SAFETY_SOC_HKR_CRITICAL_ERROR_GPIO   , 
    RS2_FRAME_METADATA_SAFETY_SOC_MONITOR_L2_ERROR_TYPE     , 
    RS2_FRAME_METADATA_SAFETY_SOC_MONITOR_L3_ERROR_TYPE     , 
    RS2_FRAME_METADATA_SAFETY_SOC_SAFETY_AND_SECURITY       , 
    RS2_FRAME_METADATA_SAFETY_DEPTH_FRAME_TIMESTAMP,
    RS2_FRAME_METADATA_SAFETY_SMCU_PROCESSING_TIMESTAMP,
    RS2_FRAME_METADATA_SAFETY_PIPELINE_PROPAGATION_DELAY,
    RS2_FRAME_METADATA_SAFETY_SMCU_DEBUG_STATUS_BITMASK     , 
    RS2_FRAME_METADATA_SAFETY_SMCU_DEBUG_INFO_INTERNAL_STATE, 
    RS2_FRAME_METADATA_SAFETY_SMCU_DEBUG_INFO_BIST_STATUS   , 
    RS2_FRAME_METADATA_SAFETY_NON_FUSA_GPIO_OUT             , 
    RS2_FRAME_METADATA_SAFETY_SMCU_HW_MONITOR_STATUS        , 
    RS2_FRAME_METADATA_SAFETY_SMCU_SW_MONITOR_STATUS        , 
    RS2_FRAME_METADATA_SAFETY_NON_FUSA_GPIO_IN              , 
    RS2_FRAME_METADATA_SAFETY_MB_FUSA_EVENT                 , 
    RS2_FRAME_METADATA_SAFETY_MB_FUSA_ACTION                , 
    RS2_FRAME_METADATA_SAFETY_MB_STATUS                     , 
    RS2_FRAME_METADATA_SAFETY_SMCU_LIVELINESS               , 
    RS2_FRAME_METADATA_SAFETY_SMCU_STATE                    , 
    RS2_FRAME_METADATA_SAFETY_PRESET_ID                     , 
    RS2_FRAME_METADATA_SENSOR_ANGLE_ROLL                    , 
    RS2_FRAME_METADATA_SENSOR_ANGLE_PITCH                   , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_MEDIAN_HEIGHT        , 
    RS2_FRAME_METADATA_FLOOR_DETECTION                      , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_FILL_RATE            , 
    RS2_FRAME_METADATA_DEPTH_FILL_RATE                      , 
    RS2_FRAME_METADATA_DEPTH_STDEV                          , 
    RS2_FRAME_METADATA_OCCUPANCY_GRID_ROWS                  , 
    RS2_FRAME_METADATA_OCCUPANCY_GRID_COLUMNS               , 
    RS2_FRAME_METADATA_OCCUPANCY_CELL_SIZE                  , 
    RS2_FRAME_METADATA_NUMBER_OF_3D_VERTICES                , 
    RS2_FRAME_METADATA_SAFETY_PRESET_ERROR_TYPE             , 
    RS2_FRAME_METADATA_SAFETY_PRESET_ERROR_PARAM_1          , 
    RS2_FRAME_METADATA_SAFETY_PRESET_ERROR_PARAM_2          , 
    RS2_FRAME_METADATA_DANGER_ZONE_POINT_0_X_CORD           , 
    RS2_FRAME_METADATA_DANGER_ZONE_POINT_0_Y_CORD           , 
    RS2_FRAME_METADATA_DANGER_ZONE_POINT_1_X_CORD           , 
    RS2_FRAME_METADATA_DANGER_ZONE_POINT_1_Y_CORD           , 
    RS2_FRAME_METADATA_DANGER_ZONE_POINT_2_X_CORD           , 
    RS2_FRAME_METADATA_DANGER_ZONE_POINT_2_Y_CORD           , 
    RS2_FRAME_METADATA_DANGER_ZONE_POINT_3_X_CORD           , 
    RS2_FRAME_METADATA_DANGER_ZONE_POINT_3_Y_CORD           , 
    RS2_FRAME_METADATA_WARNING_ZONE_POINT_0_X_CORD          , 
    RS2_FRAME_METADATA_WARNING_ZONE_POINT_0_Y_CORD          , 
    RS2_FRAME_METADATA_WARNING_ZONE_POINT_1_X_CORD          , 
    RS2_FRAME_METADATA_WARNING_ZONE_POINT_1_Y_CORD          , 
    RS2_FRAME_METADATA_WARNING_ZONE_POINT_2_X_CORD          , 
    RS2_FRAME_METADATA_WARNING_ZONE_POINT_2_Y_CORD          , 
    RS2_FRAME_METADATA_WARNING_ZONE_POINT_3_X_CORD          , 
    RS2_FRAME_METADATA_WARNING_ZONE_POINT_3_Y_CORD          , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_POINT_0_X_CORD       , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_POINT_0_Y_CORD       , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_POINT_1_X_CORD       , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_POINT_1_Y_CORD       , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_POINT_2_X_CORD       , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_POINT_2_Y_CORD       , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_POINT_3_X_CORD       , 
    RS2_FRAME_METADATA_DIAGNOSTIC_ZONE_POINT_3_Y_CORD       , 
    RS2_FRAME_METADATA_EMBEDDED_FILTERS                     , 
    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 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           
} rs2_calib_target_type;
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);

rs2_vertex* rs2_get_frame_labeled_vertices(const rs2_frame* frame, rs2_error** error);

int rs2_get_frame_labeled_points_count(const rs2_frame* frame, rs2_error** error);

void* rs2_get_frame_labels(const rs2_frame* frame, rs2_error** error);

unsigned int rs2_get_frame_labeled_points_width(const rs2_frame* frame, rs2_error** error);

unsigned int rs2_get_frame_labeled_points_height(const rs2_frame* frame, rs2_error** error);

unsigned int rs2_get_frame_labeled_points_bits_per_pixel(const rs2_frame* frame, rs2_error** error);

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

const char * rs2_get_stream_profile_name( const rs2_stream_profile * profile, 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);
 
#ifdef __cplusplus
}
#endif
#endif