Frame related function is mainly used to obtain frame data and frame information. More...

#include "ObTypes.h"

Macros
#define	ob_video_frame_metadata ob_frame_metadata

#define	ob_video_frame_metadata_size ob_frame_metadata_size

Functions
uint64_t	ob_frame_index (ob_frame frame, ob_error *error)
	Get the frame index.

ob_format	ob_frame_format (ob_frame frame, ob_error *error)
	Get the frame format.

ob_frame_type	ob_frame_get_type (ob_frame frame, ob_error *error)
	Get the frame type.

uint64_t	ob_frame_time_stamp (ob_frame frame, ob_error *error)
	Get the hardware timestamp of the frame in milliseconds.

uint64_t	ob_frame_time_stamp_us (ob_frame frame, ob_error *error)
	Get the hardware timestamp of the frame in microseconds.

uint64_t	ob_frame_system_time_stamp (ob_frame frame, ob_error *error)
	Get the system timestamp of the frame in milliseconds.

uint64_t	ob_frame_system_time_stamp_us (ob_frame frame, ob_error *error)
	Get the system timestamp of the frame in microseconds.

uint64_t	ob_frame_global_time_stamp_us (ob_frame frame, ob_error *error)
	Get the global timestamp of the frame in microseconds.

void *	ob_frame_data (ob_frame frame, ob_error *error)
	Get frame data.

uint32_t	ob_frame_data_size (ob_frame frame, ob_error *error)
	Get the frame data size.

void *	ob_frame_metadata (ob_frame frame, ob_error *error)
	Get the metadata of the frame.

uint32_t	ob_frame_metadata_size (ob_frame frame, ob_error *error)
	Get the metadata size of the frame.

bool	ob_frame_has_metadata (ob_frame frame, ob_frame_metadata_type type, ob_error *error)
	check if the frame contains the specified metadata

int64_t	ob_frame_get_metadata_value (ob_frame frame, ob_frame_metadata_type type, ob_error *error)
	Get the metadata value of the frame.

ob_stream_profile *	ob_frame_get_stream_profile (ob_frame frame, ob_error *error)
	Get the stream profile of the frame.

ob_sensor *	ob_frame_get_sensor (ob_frame frame, ob_error *error)
	Get the sensor of the frame.

ob_device *	ob_frame_get_device (ob_frame frame, ob_error *error)
	Get the device of the frame.

uint32_t	ob_video_frame_width (ob_frame frame, ob_error *error)
	Get video frame width.

uint32_t	ob_video_frame_height (ob_frame frame, ob_error *error)
	Get video frame height.

uint8_t	ob_video_frame_pixel_available_bit_size (ob_frame frame, ob_error *error)
	Get the effective number of pixels (such as Y16 format frame, but only the lower 10 bits are effective bits, and the upper 6 bits are filled with 0)

ob_sensor_type	ob_ir_frame_get_source_sensor_type (ob_frame frame, ob_error *ob_error)
	Get the source sensor type of the ir frame (left or right for dual camera)

float	ob_depth_frame_get_value_scale (ob_frame frame, ob_error *error)
	Get the value scale of the depth frame. The pixel value of the depth frame is multiplied by the scale to give a depth value in millimeters. For example, if valueScale=0.1 and a certain coordinate pixel value is pixelValue=10000, then the depth value = pixelValuevalueScale = 100000.1=1000mm.

float	ob_points_frame_get_position_value_scale (ob_frame frame, ob_error *error)
	Get the point position value scale of the points frame. The point position value of the points frame is multiplied by the scale to give a position value in millimeters. For example, if scale=0.1, the x-coordinate value of a point is x = 10000, which means that the actual x-coordinate value = xscale = 100000.1 = 1000mm.

void	ob_delete_frame (ob_frame frame, ob_error *error)
	Delete a frame object.

uint32_t	ob_frameset_frame_count (ob_frame frameset, ob_error *error)
	Get the number of frames contained in the frameset.

ob_frame *	ob_frameset_depth_frame (ob_frame frameset, ob_error *error)
	Get the depth frame from the frameset.

ob_frame *	ob_frameset_color_frame (ob_frame frameset, ob_error *error)
	Get the color frame from the frameset.

ob_frame *	ob_frameset_ir_frame (ob_frame frameset, ob_error *error)
	Get the infrared frame from the frameset.

ob_frame *	ob_frameset_points_frame (ob_frame frameset, ob_error *error)
	Get point cloud data from the frameset.

ob_frame *	ob_frameset_get_frame (ob_frame frameset, ob_frame_type frame_type, ob_error *error)
	Get a frame of a specific type from the frameset.

ob_frame *	ob_frameset_get_frame_by_index (ob_frame frameset, int index, ob_error *error)
	Get a frame at a specific index from the FrameSet.

ob_accel_value	ob_accel_frame_value (ob_frame frame, ob_error *error)
	Get accelerometer frame data.

float	ob_accel_frame_temperature (ob_frame frame, ob_error *error)
	Get the temperature when acquiring the accelerometer frame.

ob_gyro_value	ob_gyro_frame_value (ob_frame frame, ob_error *error)
	Get gyroscope frame data.

float	ob_gyro_frame_temperature (ob_frame frame, ob_error *error)
	Get the temperature when acquiring the gyroscope frame.

void	ob_frame_add_ref (ob_frame frame, ob_error *error)
	Increase the reference count of a frame object.

ob_frame *	ob_create_frame (ob_format frame_format, int width, int height, int stride_bytes, ob_frame_type frame_type, ob_error **error)
	Create an empty frame object based on the specified parameters.

ob_frame *	ob_create_frame_from_buffer (ob_format frame_format, uint32_t frame_width, uint32_t frame_height, uint8_t buffer, uint32_t buffer_size, ob_frame_destroy_callback buffer_destroy_cb, void buffer_destroy_context, ob_error *error)
	Create a frame object based on an externally created buffer.

ob_frame *	ob_create_frameset (ob_error **error)
	Create an empty frameset object.

void	ob_frameset_push_frame (ob_frame frameset, ob_frame_type type, ob_frame frame, ob_error **error)
	Add a frame of the specified type to the frameset.

void	ob_frame_set_system_time_stamp (ob_frame frame, uint64_t system_timestamp, ob_error *error)
	Set the system timestamp of a frame object.

void	ob_frame_set_device_time_stamp (ob_frame frame, uint64_t device_timestamp, ob_error *error)
	Set the device timestamp of a frame object.

void	ob_frame_set_device_time_stamp_us (ob_frame frame, uint64_t device_timestamp_us, ob_error *error)
	Set the device timestamp of a frame object.

Detailed Description

Frame related function is mainly used to obtain frame data and frame information.

Definition in file Frame.h.

Macro Definition Documentation

◆ ob_video_frame_metadata

#define ob_video_frame_metadata ob_frame_metadata

Definition at line 123 of file Frame.h.

◆ ob_video_frame_metadata_size

#define ob_video_frame_metadata_size ob_frame_metadata_size

Definition at line 133 of file Frame.h.

Function Documentation

◆ ob_frame_index()

uint64_t ob_frame_index	(	ob_frame *	frame,
		ob_error **	error
	)

Get the frame index.

Parameters

[in]	frame	Frame object
[out]	error	Log wrong message

Returns: uint64_t return the frame index

◆ ob_frame_format()

ob_format ob_frame_format	(	ob_frame *	frame,
		ob_error **	error
	)

Get the frame format.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: ob_format return the frame format

◆ ob_frame_get_type()

ob_frame_type ob_frame_get_type	(	ob_frame *	frame,
		ob_error **	error
	)

Get the frame type.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: ob_frame_type return the frame type

◆ ob_frame_time_stamp()

uint64_t ob_frame_time_stamp	(	ob_frame *	frame,
		ob_error **	error
	)

Get the hardware timestamp of the frame in milliseconds.

The hardware timestamp is the time point when the frame was captured by the device, on device clock domain.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: uint64_t return the frame hardware timestamp in milliseconds

◆ ob_frame_time_stamp_us()

uint64_t ob_frame_time_stamp_us	(	ob_frame *	frame,
		ob_error **	error
	)

Get the hardware timestamp of the frame in microseconds.

The hardware timestamp is the time point when the frame was captured by the device, on device clock domain.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: uint64_t return the frame hardware timestamp in microseconds

◆ ob_frame_system_time_stamp()

uint64_t ob_frame_system_time_stamp	(	ob_frame *	frame,
		ob_error **	error
	)

Get the system timestamp of the frame in milliseconds.

The system timestamp is the time point when the frame was received by the host, on host clock domain.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: uint64_t return the frame system timestamp in milliseconds

◆ ob_frame_system_time_stamp_us()

uint64_t ob_frame_system_time_stamp_us	(	ob_frame *	frame,
		ob_error **	error
	)

Get the system timestamp of the frame in microseconds.

The system timestamp is the time point when the frame was received by the host, on host clock domain.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: uint64_t return the frame system timestamp in microseconds

◆ ob_frame_global_time_stamp_us()

uint64_t ob_frame_global_time_stamp_us	(	ob_frame *	frame,
		ob_error **	error
	)

Get the global timestamp of the frame in microseconds.

The global timestamp is the time point when the frame was was captured by the device, and has been converted to the host clock domain. The conversion process base on the device timestamp and can eliminate the timer drift of the device

Attention: Only some devices support getting the global timestamp. If the device does not support it, this function will return 0. Check the device support status by ob_device_is_global_timestamp_supported() function.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: uint64_t The global timestamp of the frame in microseconds.

◆ ob_frame_data()

void * ob_frame_data	(	ob_frame *	frame,
		ob_error **	error
	)

Get frame data.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: void* * return frame data pointer

◆ ob_frame_data_size()

uint32_t ob_frame_data_size	(	ob_frame *	frame,
		ob_error **	error
	)

Get the frame data size.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: uint32_t return the frame data size If it is point cloud data, it return the number of bytes occupied by all point sets. If you need to find the number of points, you need to divide dataSize by the structure size of the corresponding point type.

◆ ob_frame_metadata()

void * ob_frame_metadata	(	ob_frame *	frame,
		ob_error **	error
	)

Get the metadata of the frame.

Parameters

[in]	frame	frame object
[out]	error	Log error messages

Returns: void* return the metadata pointer of the frame

◆ ob_frame_metadata_size()

uint32_t ob_frame_metadata_size	(	ob_frame *	frame,
		ob_error **	error
	)

Get the metadata size of the frame.

Parameters

[in]	frame	frame object
[out]	error	Log error messages

Returns: uint32_t return the metadata size of the frame

◆ ob_frame_has_metadata()

bool ob_frame_has_metadata	(	ob_frame *	frame,
		ob_frame_metadata_type	type,
		ob_error **	error
	)

check if the frame contains the specified metadata

Parameters

[in]	frame	frame object
[in]	type	metadata type, refer to ob_frame_metadata_type
[out]	error	Log error messages

◆ ob_frame_get_metadata_value()

int64_t ob_frame_get_metadata_value	(	ob_frame *	frame,
		ob_frame_metadata_type	type,
		ob_error **	error
	)

Get the metadata value of the frame.

Parameters

[in]	frame	frame object
[in]	type	metadata type, refer to ob_frame_metadata_type
[out]	error	Log error messages

Returns: int64_t return the metadata value of the frame

◆ ob_frame_get_stream_profile()

ob_stream_profile * ob_frame_get_stream_profile	(	ob_frame *	frame,
		ob_error **	error
	)

Get the stream profile of the frame.

Attention: Require ob_delete_stream_profile() to release the return stream profile.

Parameters

frame	frame object
error	Log error messages

Returns: ob_stream_profile* Return the stream profile of the frame, if the frame is not captured by a sensor stream, it will return NULL

◆ ob_frame_get_sensor()

ob_sensor * ob_frame_get_sensor	(	ob_frame *	frame,
		ob_error **	error
	)

Get the sensor of the frame.

Attention: Require ob_delete_sensor() to release the return sensor.

Parameters

[in]	frame	frame object
[out]	error	Log error messages

Returns: ob_sensor* return the sensor of the frame, if the frame is not captured by a sensor or the sensor stream has been destroyed, it will return NULL

◆ ob_frame_get_device()

ob_device * ob_frame_get_device	(	ob_frame *	frame,
		ob_error **	error
	)

Get the device of the frame.

Attention: Require ob_delete_device() to release the return device.

Parameters

	frame	frame object
[out]	error	Log error messages

Returns: ob_device* return the device of the frame, if the frame is not captured by a sensor stream or the device has been destroyed, it will return NULL

◆ ob_video_frame_width()

uint32_t ob_video_frame_width	(	ob_frame *	frame,
		ob_error **	error
	)

Get video frame width.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: uint32_t return the frame width

◆ ob_video_frame_height()

uint32_t ob_video_frame_height	(	ob_frame *	frame,
		ob_error **	error
	)

Get video frame height.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: uint32_t return the frame height

◆ ob_video_frame_pixel_available_bit_size()

uint8_t ob_video_frame_pixel_available_bit_size	(	ob_frame *	frame,
		ob_error **	error
	)

Get the effective number of pixels (such as Y16 format frame, but only the lower 10 bits are effective bits, and the upper 6 bits are filled with 0)

Attention: Only valid for Y8/Y10/Y11/Y12/Y14/Y16 format

Parameters

[in]	frame	video frame object
[out]	error	log error messages

Returns: uint8_t return the effective number of pixels in the pixel, or 0 if it is an unsupported format

◆ ob_ir_frame_get_source_sensor_type()

ob_sensor_type ob_ir_frame_get_source_sensor_type	(	ob_frame *	frame,
		ob_error **	ob_error
	)

Get the source sensor type of the ir frame (left or right for dual camera)

Parameters

frame	Frame object
ob_error	Log error messages

Returns: ob_sensor_type return the source sensor type of the ir frame

◆ ob_depth_frame_get_value_scale()

float ob_depth_frame_get_value_scale	(	ob_frame *	frame,
		ob_error **	error
	)

Get the value scale of the depth frame. The pixel value of the depth frame is multiplied by the scale to give a depth value in millimeters. For example, if valueScale=0.1 and a certain coordinate pixel value is pixelValue=10000, then the depth value = pixelValue*valueScale = 10000*0.1=1000mm.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: float The value scale of the depth frame

◆ ob_points_frame_get_position_value_scale()

float ob_points_frame_get_position_value_scale	(	ob_frame *	frame,
		ob_error **	error
	)

Get the point position value scale of the points frame. The point position value of the points frame is multiplied by the scale to give a position value in millimeters. For example, if scale=0.1, the x-coordinate value of a point is x = 10000, which means that the actual x-coordinate value = x*scale = 10000*0.1 = 1000mm.

Parameters

[in]	frame	Frame object
[out]	error	Log error messages

Returns: float The position value scale of the points frame

◆ ob_delete_frame()

void ob_delete_frame	(	ob_frame *	frame,
		ob_error **	error
	)

Delete a frame object.

Parameters

[in]	frame	The frame object to delete
[out]	error	Log error messages

◆ ob_frameset_frame_count()

uint32_t ob_frameset_frame_count	(	ob_frame *	frameset,
		ob_error **	error
	)

Get the number of frames contained in the frameset.

Parameters

[in]	frameset	frameset object
[out]	error	Log error messages

Returns: uint32_t return the number of frames

◆ ob_frameset_depth_frame()

ob_frame * ob_frameset_depth_frame	(	ob_frame *	frameset,
		ob_error **	error
	)

Get the depth frame from the frameset.

Parameters

[in]	frameset	Frameset object.
[out]	error	Log error messages.

Returns: ob_frame* Return the depth frame.

◆ ob_frameset_color_frame()

ob_frame * ob_frameset_color_frame	(	ob_frame *	frameset,
		ob_error **	error
	)

Get the color frame from the frameset.

Parameters

[in]	frameset	Frameset object.
[out]	error	Log error messages.

Returns: ob_frame* Return the color frame.

◆ ob_frameset_ir_frame()

ob_frame * ob_frameset_ir_frame	(	ob_frame *	frameset,
		ob_error **	error
	)

Get the infrared frame from the frameset.

Parameters

[in]	frameset	Frameset object.
[out]	error	Log error messages.

Returns: ob_frame* Return the infrared frame.

◆ ob_frameset_points_frame()

ob_frame * ob_frameset_points_frame	(	ob_frame *	frameset,
		ob_error **	error
	)

Get point cloud data from the frameset.

Parameters

[in]	frameset	Frameset object.
[out]	error	Log error messages.

Returns: ob_frame* Return the point cloud frame.

◆ ob_frameset_get_frame()

ob_frame * ob_frameset_get_frame	(	ob_frame *	frameset,
		ob_frame_type	frame_type,
		ob_error **	error
	)

Get a frame of a specific type from the frameset.

Parameters

[in]	frameset	Frameset object.
[in]	frame_type	Frame type.
[out]	error	Log error messages.

Returns: ob_frame* Return the frame of the specified type, or nullptr if it does not exist.

◆ ob_frameset_get_frame_by_index()

ob_frame * ob_frameset_get_frame_by_index	(	ob_frame *	frameset,
		int	index,
		ob_error **	error
	)

Get a frame at a specific index from the FrameSet.

Parameters

[in]	frameset	Frameset object.
[in]	index	The index of the frame.
[out]	error	Log error messages.

Returns: ob_frame* Return the frame at the specified index, or nullptr if it does not exist.

◆ ob_accel_frame_value()

ob_accel_value ob_accel_frame_value	(	ob_frame *	frame,
		ob_error **	error
	)

Get accelerometer frame data.

Parameters

[in]	frame	Accelerometer frame.
[out]	error	Log error messages.

Returns: ob_accel_value Return the accelerometer data.

◆ ob_accel_frame_temperature()

float ob_accel_frame_temperature	(	ob_frame *	frame,
		ob_error **	error
	)

Get the temperature when acquiring the accelerometer frame.

Parameters

[in]	frame	Accelerometer frame.
[out]	error	Log error messages.

Returns: float Return the temperature value.

◆ ob_gyro_frame_value()

ob_gyro_value ob_gyro_frame_value	(	ob_frame *	frame,
		ob_error **	error
	)

Get gyroscope frame data.

Parameters

[in]	frame	Gyroscope frame.
[out]	error	Log error messages.

Returns: ob_gyro_value Return the gyroscope data.

◆ ob_gyro_frame_temperature()

float ob_gyro_frame_temperature	(	ob_frame *	frame,
		ob_error **	error
	)

Get the temperature when acquiring the gyroscope frame.

Parameters

[in]	frame	Gyroscope frame.
[out]	error	Log error messages.

Returns: float Return the temperature value.

◆ ob_frame_add_ref()

void ob_frame_add_ref	(	ob_frame *	frame,
		ob_error **	error
	)

Increase the reference count of a frame object.

Parameters

[in]	frame	Frame object to increase the reference count.
[out]	error	Log error messages.

◆ ob_create_frame()

ob_frame * ob_create_frame	(	ob_format	frame_format,
		int	width,
		int	height,
		int	stride_bytes,
		ob_frame_type	frame_type,
		ob_error **	error
	)

Create an empty frame object based on the specified parameters.

Parameters

[in]	frame_format	Frame object format.
[in]	width	Frame object width.
[in]	height	Frame object height.
[in]	stride_bytes	Buffer row span.
[in]	frame_type	Frame object type.
[out]	error	Log error messages.

Returns: ob_frame* Return an empty frame object.

◆ ob_create_frame_from_buffer()

ob_frame * ob_create_frame_from_buffer	(	ob_format	frame_format,
		uint32_t	frame_width,
		uint32_t	frame_height,
		uint8_t *	buffer,
		uint32_t	buffer_size,
		ob_frame_destroy_callback *	buffer_destroy_cb,
		void *	buffer_destroy_context,
		ob_error **	error
	)

Create a frame object based on an externally created buffer.

Parameters

[in]	frame_format	Frame object format.
[in]	frame_width	Frame object width.
[in]	frame_height	Frame object height.
[in]	buffer	Frame object buffer.
[in]	buffer_size	Frame object buffer size.
[in]	buffer_destroy_cb	Destroy callback.
[in]	buffer_destroy_context	Destroy context.
[out]	error	Log error messages.

Returns: ob_frame* Return the frame object.

◆ ob_create_frameset()

ob_frame * ob_create_frameset ( ob_error ** error )

Create an empty frameset object.

Parameters

[out] error Log error messages.

Returns: ob_frame* Return the frameset object.

◆ ob_frameset_push_frame()

void ob_frameset_push_frame	(	ob_frame *	frameset,
		ob_frame_type	type,
		ob_frame *	frame,
		ob_error **	error
	)

Add a frame of the specified type to the frameset.

Parameters

[in]	frameset	Frameset object.
[in]	type	Type of frame to add.
[in]	frame	Frame object to add.
[out]	error	Log error messages.

◆ ob_frame_set_system_time_stamp()

void ob_frame_set_system_time_stamp	(	ob_frame *	frame,
		uint64_t	system_timestamp,
		ob_error **	error
	)

Set the system timestamp of a frame object.

Parameters

[in]	frame	Frame object to set the system timestamp for.
[in]	system_timestamp	System timestamp to set in milliseconds.
[out]	error	Log error messages.

◆ ob_frame_set_device_time_stamp()

void ob_frame_set_device_time_stamp	(	ob_frame *	frame,
		uint64_t	device_timestamp,
		ob_error **	error
	)

Set the device timestamp of a frame object.

Parameters

[in]	frame	Frame object to set the device timestamp.
[in]	device_timestamp	Device timestamp to set in milliseconds.
[out]	error	Log error messages.

◆ ob_frame_set_device_time_stamp_us()

void ob_frame_set_device_time_stamp_us	(	ob_frame *	frame,
		uint64_t	device_timestamp_us,
		ob_error **	error
	)

Set the device timestamp of a frame object.

Parameters

[in]	frame	Frame object to set the device timestamp for.
[in]	device_timestamp_us	Device timestamp to set in microseconds.
[out]	error	Log error messages.

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ ob_video_frame_metadata

◆ ob_video_frame_metadata_size

Function Documentation

◆ ob_frame_index()

◆ ob_frame_format()

◆ ob_frame_get_type()

◆ ob_frame_time_stamp()

◆ ob_frame_time_stamp_us()

◆ ob_frame_system_time_stamp()

◆ ob_frame_system_time_stamp_us()

◆ ob_frame_global_time_stamp_us()

◆ ob_frame_data()

◆ ob_frame_data_size()

◆ ob_frame_metadata()

◆ ob_frame_metadata_size()

◆ ob_frame_has_metadata()

◆ ob_frame_get_metadata_value()

◆ ob_frame_get_stream_profile()

◆ ob_frame_get_sensor()

◆ ob_frame_get_device()

◆ ob_video_frame_width()

◆ ob_video_frame_height()

◆ ob_video_frame_pixel_available_bit_size()

◆ ob_ir_frame_get_source_sensor_type()

◆ ob_depth_frame_get_value_scale()

◆ ob_points_frame_get_position_value_scale()

◆ ob_delete_frame()

◆ ob_frameset_frame_count()

◆ ob_frameset_depth_frame()

◆ ob_frameset_color_frame()

◆ ob_frameset_ir_frame()

◆ ob_frameset_points_frame()

◆ ob_frameset_get_frame()

◆ ob_frameset_get_frame_by_index()

◆ ob_accel_frame_value()

◆ ob_accel_frame_temperature()

◆ ob_gyro_frame_value()

◆ ob_gyro_frame_temperature()

◆ ob_frame_add_ref()

◆ ob_create_frame()

◆ ob_create_frame_from_buffer()

◆ ob_create_frameset()

◆ ob_frameset_push_frame()

◆ ob_frame_set_system_time_stamp()

◆ ob_frame_set_device_time_stamp()

◆ ob_frame_set_device_time_stamp_us()