Frame Class Reference

Frame format and metadata. More...

#include <libfreenect2/frame_listener.hpp>

Public Types
enum	Type { Color = 1, Ir = 2, Depth = 4 }
	Available types of frames. More...
enum	Format {   Invalid = 0, Raw = 1, Float = 2, BGRX = 4,   RGBX = 5, Gray = 6 }
	Pixel format. More...

Public Member Functions
	Frame (size_t width, size_t height, size_t bytes_per_pixel, unsigned char *data_=NULL)
	Construct a new frame. More...
virtual	~Frame ()

Public Attributes
size_t	width
	Length of a line (in pixels). More...
size_t	height
	Number of lines in the frame. More...
size_t	bytes_per_pixel
	Number of bytes in a pixel. If frame format is 'Raw' this is the buffer size. More...
unsigned char *	data
	Data of the frame (aligned). More...
uint32_t	timestamp
	Unit: roughly or exactly 0.1 millisecond. More...
uint32_t	sequence
	Increasing frame sequence number. More...
float	exposure
	From 0.5 (very bright) to ~60.0 (fully covered) More...
float	gain
	From 1.0 (bright) to 1.5 (covered) More...
float	gamma
	From 1.0 (bright) to 6.4 (covered) More...
uint32_t	status
	zero if ok; non-zero for errors. More...
Format	format
	Byte format. Informative only, doesn't indicate errors. More...

Protected Attributes
unsigned char *	rawdata
	Unaligned start of data. More...

Detailed Description

Frame format and metadata.

Member Enumeration Documentation

enum Type

Available types of frames.

Enumerator
Color	1920x1080. BGRX or RGBX.
Ir	512x424 float. Range is [0.0, 65535.0].
Depth	512x424 float, unit: millimeter. Non-positive, NaN, and infinity are invalid or missing data.

enum Format

Pixel format.

Enumerator
Invalid	Invalid format.
Raw	Raw bitstream. 'bytes_per_pixel' defines the number of bytes.
Float	A 4-byte float per pixel.
BGRX	4 bytes of B, G, R, and unused per pixel
RGBX	4 bytes of R, G, B, and unused per pixel
Gray	1 byte of gray per pixel

Constructor & Destructor Documentation

Frame	(	size_t	width,
		size_t	height,
		size_t	bytes_per_pixel,
		unsigned char *	data_ = NULL
	)

Construct a new frame.

Parameters

width	Width in pixel
height	Height in pixel
bytes_per_pixel	Bytes per pixel
data_	Memory to store frame data. If NULL, new memory is allocated.

virtual ~Frame ( )

virtual

Member Data Documentation

size_t width

Length of a line (in pixels).

size_t height

Number of lines in the frame.

size_t bytes_per_pixel

Number of bytes in a pixel. If frame format is 'Raw' this is the buffer size.

unsigned char* data

Data of the frame (aligned).

See also

See Frame::Type for pixel format.

uint32_t timestamp

Unit: roughly or exactly 0.1 millisecond.

uint32_t sequence

Increasing frame sequence number.

float exposure

From 0.5 (very bright) to ~60.0 (fully covered)

float gain

From 1.0 (bright) to 1.5 (covered)

float gamma

From 1.0 (bright) to 6.4 (covered)

uint32_t status

zero if ok; non-zero for errors.

Format format

Byte format. Informative only, doesn't indicate errors.

unsigned char* rawdata

protected

Unaligned start of data.