You’re reading an older version of the Slamcore SDK documenation. The latest one is 23.04.

File multi_frame.hpp

Core API objects - multi-frame.

template<typename T>
struct TypeTraits<T, typename enable_if_is_base_of<MultiFrameInterface, T>::type>

#include <multi_frame.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::MultiFrame

namespace slamcore

Main namespace for the Slamcore public API

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Client-library related getter methods

Get information about the client library

class MultiFrameInterface

#include <multi_frame.hpp>

Representing a set of video frames.

Convenient access to frame @a i.

inline const value_type &operator[](const std::size_t i) const

inline const value_type &operator()(const std::size_t i) const

inline const value_type &get(const std::size_t i) const

range-for loops helpers.

inline iterator begin() const

inline iterator end() const

Public Types

using Ptr = std::shared_ptr<MultiFrameInterface>

using CPtr = std::shared_ptr<const MultiFrameInterface>

using value_type = FrameInterface

using iterator = RangeIterator<MultiFrameInterface>

Public Functions

virtual ~MultiFrameInterface() = default

inline virtual bool isKeyFrame() const

Indicates if this MultiFrame is a key frame in our map.

virtual FrameId id() const = 0

ID of the MultiFrame set.

virtual MeasurementPoint<camera_clock>::time_point getHWTimestamp() const = 0

HW timestamp of the multi-frame.

virtual MeasurementPoint<camera_clock>::host_time_point getAcquisitionTimestamp() const = 0

Acquisition timestamp of the multi-frame.

virtual MeasurementPoint<camera_clock>::host_time_point getSourceAcquisitionTimestamp() const = 0

Source acquisition timestamp of the multi-frame.

virtual std::size_t size() const = 0

Number of frames in the MultiFrame.

Protected Functions

virtual const value_type &getFrameImpl(const std::size_t idx) const = 0

Actual implementation to return idx frame.

template<typename T> type >

#include <multi_frame.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::MultiFrame