Struct MotionFrame

pub struct MotionFrame<Kind> { /* private fields */ }

Holds the raw data pointer and derived data from an RS2 Motion Frame.

All fields in this struct are initialized during struct creation (via try_from). Everything called from here during runtime should be valid as long as the Frame is in scope… like normal Rust.

Implementations

impl MotionFrame<Accel>

pub fn acceleration(&self) -> &[f32; 3]

Returns a 3-item array representing the sensor motion recorded in the Accel frame.

Accelerations are reported as [x, y, z] values, and are in units of m/s^2

This function will return different data conventions entirely depending on the device used to create the measurement.

Intel RealSense D435i

• motion[0]: Positive x-axis points to the right.
• motion[1]: Positive y-axis points down.
• motion[2]: Positive z-axis points forward.

Intel RealSense T265

• motion[0]: Positive X direction is towards right imager.
• motion[1]: Positive Y direction is upwards toward the top of the device.
• motion[2]: Positive Z direction is inwards toward the back of the device.

Read more about the coordinate frames of RealSense motion in the RealSense docs

impl MotionFrame<Gyro>

pub fn rotational_velocity(&self) -> &[f32; 3]

Returns a 3-item array representing the sensor motion recorded in the Gyro frame.

Gyroscope measurements are reported as [x, y, z] values, and are in units of radians/s

This function will return different data conventions entirely depending on the device used to create the measurement.

Intel RealSense D435i

• motion[0]: Positive x-axis points to the right.
• motion[1]: Positive y-axis points down.
• motion[2]: Positive z-axis points forward.

Intel RealSense T265

• motion[0]: Positive X direction is towards right imager.
• motion[1]: Positive Y direction is upwards toward the top of the device.
• motion[2]: Positive Z direction is inwards toward the back of the device.

Read more about the coordinate frames of RealSense motion in the RealSense docs

Trait Implementations

impl<Kind: Debug> Debug for MotionFrame<Kind>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<K> Drop for MotionFrame<K>

fn drop(&mut self)

Drop the raw pointer stored with this struct whenever it goes out of scope.

impl<K> FrameEx for MotionFrame<K>

fn stream_profile(&self) -> &StreamProfile

Get the stream profile associated with the frame.

fn sensor(&self) -> Result<Sensor>

Get the sensor associated with the frame.

fn timestamp(&self) -> f64

Get the frame timestamp.

fn timestamp_domain(&self) -> Rs2TimestampDomain

Get the RealSense timestamp domain for the current timestamp.

fn frame_number(&self) -> u64

Get the frame number.

fn metadata(&self, metadata_kind: Rs2FrameMetadata) -> Option<c_longlong>

Get frame metadata.

fn supports_metadata(&self, metadata_kind: Rs2FrameMetadata) -> bool

Test whether the metadata arguemnt is supported by the frame.

unsafe fn get_owned_raw(self) -> NonNull<rs2_frame>

Get (and own) the underlying frame pointer for this frame.

impl<K> TryFrom<NonNull<rs2_frame>> for MotionFrame<K>

fn try_from(frame_ptr: NonNull<rs2_frame>) -> Result<Self, Self::Error>

Attempt to create an Image frame of extension K from the raw rs2_frame. All members of the ImageFrame struct are validated and populated during this call.

Errors

There are a number of errors that may occur if the data in the rs2_frame is not valid, all of type FrameConstructionError.

• CouldNotGetTimestamp
• CouldNotGetTimestampDomain
• CouldNotGetFrameStreamProfile
• CouldNotGetDataSize
• CouldNotGetData

See FrameConstructionError documentation for more details.

type Error = Error

The type returned in the event of a conversion error.

impl<K> Send for MotionFrame<K>