realsense_rust/kind/
frame_metadata.rs

1//! Enumeration of frame-specific metadata
2
3use num_derive::{FromPrimitive, ToPrimitive};
4use realsense_sys as sys;
5
6/// A type describing the different metadata keys used to access frame metadata.
7///
8/// Each key corresponds to a particular type of frame metadata. The librealsense2 C-API refers to
9/// these as `rs2_frame_metadata_value`; however these are clearly keys to metadata values.
10///
11#[repr(i32)]
12#[derive(FromPrimitive, ToPrimitive, Debug, Clone, Copy, PartialEq, Eq, Hash)]
13pub enum Rs2FrameMetadata {
14    /// A sequential index managed per-stream, counting up from the first frame at zero.
15    FrameCounter = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_FRAME_COUNTER as i32,
16    /// Timestamp set by device clock when data is read out and transmission commences.
17    ///
18    /// Units are microseconds (usec)
19    FrameTimestamp = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_FRAME_TIMESTAMP as i32,
20    /// Timestamp for the middle of the sensor's exposure during frame capture.
21    ///
22    /// This value is calculated by the device (not host).  Units are microseconds (usec)
23    SensorTimestamp = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_SENSOR_TIMESTAMP as i32,
24    /// The exposure duration used by the sensor when this frame was captured.
25    ///
26    /// When auto-exposure (AE) is turned on, this value is controlled by the device's firmware.
27    /// Units are microseconds (usec).
28    ActualExposure = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_ACTUAL_EXPOSURE as i32,
29    /// The sensor's gain level during frame capture.
30    ///
31    /// This value is a relative integer value, and may not correspond to a physical quantity. When
32    /// auto-exposure (AE) is turned on, this value is controlled by the device's firmware.
33    GainLevel = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_GAIN_LEVEL as i32,
34    /// Indicates if auto-exposure (AE) was turned on during frame capture.
35    ///
36    /// A value of zero corresponds to AE being off, otherwise it is on.
37    AutoExposure = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_AUTO_EXPOSURE as i32,
38    /// The white balance setting as a color temperature during frame capture.
39    ///
40    /// Units are Kelvin degrees.
41    WhiteBalance = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_WHITE_BALANCE as i32,
42    /// The timestamp at which the frame arrived on the host machine.
43    ///
44    /// This timestamp, unlike the others, is relative to the system clock on host.
45    TimeOfArrival = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_TIME_OF_ARRIVAL as i32,
46    /// Temperature of the device during frame capture.
47    ///
48    /// Units are Celsius degrees.
49    Temperature = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_TEMPERATURE as i32,
50    /// Timestamp of the uvc driver.
51    ///
52    /// Units are microseconds (usec)
53    BackendTimestamp = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_BACKEND_TIMESTAMP as i32,
54    /// The actual framerate of the stream at the point of frame capture.
55    ///
56    /// This may be different than the framerate returned by the stream profile data (which is the
57    /// framerate you configured). This may differ as a result of frame drops in the firmware, or
58    /// measurement noise (e.g. you get 29.99 FPS when you asked for 30 FPS).
59    ActualFps = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_ACTUAL_FPS as i32,
60    /// Relative measure of laser power during frame capture.
61    ///
62    /// Laser power is a relative measure between values of 0 and 360
63    FrameLaserPower = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_FRAME_LASER_POWER as i32,
64    /// The laser power mode used at time of frame capture.
65    ///
66    /// Zero corresponds to laser power being switched off, and one for laser power being turned
67    /// on.
68    ///
69    /// This variant was deprecated by librealsense2, prefer using
70    /// `Rs2FrameMetadata::FrameEmitterMode` instead.
71    FrameLaserPowerMode =
72        sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE as i32,
73    /// Exposure priority
74    ExposurePriority = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_EXPOSURE_PRIORITY as i32,
75    /// Left region of interest for the auto-exposure algorithm.
76    ExposureRoiLeft = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_EXPOSURE_ROI_LEFT as i32,
77    /// Right region of interest for the auto-exposure algorithm.
78    ExposureRoiRight = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_EXPOSURE_ROI_RIGHT as i32,
79    /// Top region of interest for the auto-exposure algorithm.
80    ExposureRoiTop = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_EXPOSURE_ROI_TOP as i32,
81    /// Bottom region of interest for the auto-exposure algorithm.
82    ExposureRoiBottom = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_EXPOSURE_ROI_BOTTOM as i32,
83    /// Brightness of the color image at time of frame capture.
84    Brightness = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_BRIGHTNESS as i32,
85    /// Contrast of the color image at time of frame capture.
86    Contrast = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_CONTRAST as i32,
87    /// Saturation of the color image at time of frame capture.
88    Saturation = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_SATURATION as i32,
89    /// Sharpness of the color image at time of frame capture.
90    Sharpness = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_SHARPNESS as i32,
91    /// Indicator for whether auto-white-balance (AWB) was turned on during frame capture.
92    ///
93    /// Zero corresponds to automatic mode being switched off, otherwise it is on.
94    AutoWhiteBalanceTemperature =
95        sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE as i32,
96    /// Indicator for whether backlight compensation was enabled on a color image.
97    ///
98    /// Zero corresponds to backlight compensation being switched off, otherwise it is on.
99    BacklightCompensation =
100        sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION as i32,
101    /// Hue of the color image at time of frame capture.
102    Hue = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_HUE as i32,
103    /// Gamma of the color image at time of frame capture.
104    Gamma = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_GAMMA as i32,
105    /// White balance of the color image at time of frame capture.
106    ManualWhiteBalance =
107        sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_MANUAL_WHITE_BALANCE as i32,
108    /// Power line frequency mode for anti-flickering.
109    ///
110    /// Values can be Off, 50Hz, 60Hz, and Auto.
111    PowerLineFrequency =
112        sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_POWER_LINE_FREQUENCY as i32,
113    /// Indicator for whether lowlight compensation was enabled on the color image.
114    ///
115    /// Zero corresponds to lowlight compensation being switched off, otherwise it is on.
116    LowLightCompensation =
117        sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION as i32,
118    /// The frame emitter mode used at the time of frame capture.
119    ///
120    /// Possible values are:
121    ///
122    /// * 0 - all emitters disabled.
123    /// * 1 - laser enabled.
124    /// * 2 - auto laser enabled (opt).
125    /// * 3 - LED enabled (opt).
126    ///
127    FrameEmitterMode = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_FRAME_EMITTER_MODE as i32,
128    /// Relative power of the LED emitter during frame capture.
129    ///
130    /// This is a relative measure between values of 0 and 360.
131    FrameLedPower = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_FRAME_LED_POWER as i32,
132    /// The number of transmitted payload bytes for the frame, not including metadata
133    RawFrameSize = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_RAW_FRAME_SIZE as i32,
134    /// GPIO input data
135    GpioInputData = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_GPIO_INPUT_DATA as i32,
136    /// Sub-preset identifier
137    SequenceName = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_SEQUENCE_NAME as i32,
138    /// Sub-preset sequence identifier
139    SequenceIdentifier = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_SEQUENCE_ID as i32,
140    /// Sub-preset sequence size
141    SequenceSize = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_SEQUENCE_SIZE as i32,
142    /// Frame trigger type
143    Trigger = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_TRIGGER as i32,
144    /// Preset id, used in MIPI SKU Metadata
145    Preset = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_PRESET as i32,
146    /// Frame input width in pixels, used as safety attribute
147    InputWidth = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_INPUT_WIDTH as i32,
148    /// Frame input height in pixels, used as safety attribute
149    InputHeight = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_INPUT_HEIGHT as i32,
150    /// Sub-preset information
151    SubPresetInfo = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_SUB_PRESET_INFO as i32,
152    /// FW-controlled frame counter to be using in Calibration scenarios
153    CalibInfo = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_CALIB_INFO as i32,
154    /// CRC checksum of the Metadata
155    Crc = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_CRC as i32,
156    // Not included since this just tells us the total number of metadata fields
157    //
158    // Count = sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_COUNT,
159}
160
161#[cfg(test)]
162mod tests {
163    use super::*;
164    use num_traits::FromPrimitive;
165
166    #[test]
167    fn all_variants_exist() {
168        for i in 0..sys::rs2_frame_metadata_value_RS2_FRAME_METADATA_COUNT as i32 {
169            assert!(
170                Rs2FrameMetadata::from_i32(i).is_some(),
171                "Rs2FrameMetadata variant for ordinal {} does not exist.",
172                i,
173            );
174        }
175    }
176}
realsense_rust/kind/frame_metadata.rs

realsense_rust/kind/
frame_metadata.rs
