ifm3d::RgbInfo Struct Reference

Metadata transported in an H.264 SEI "unregistered user data" message (ITU-T H.264 §D.1, payloadType 5). More...

#include <ifm3d/rtsp/frame_metadata.h>

Classes
struct	Intrinsic
	Intrinsic / inverse-intrinsic calibration model. More...

Public Attributes
std::uint32_t	version = 0
std::uint32_t	frame_counter = 0
std::uint64_t	timestamp_ns = 0
float	exposure_time = 0.0F
std::array< float, 6 >	extrinsic_optic_to_user {}
	transX, transY, transZ [m], rotX, rotY, rotZ [rad].
Intrinsic	intrinsic
Intrinsic	inverse_intrinsic

Static Public Attributes
static constexpr std::size_t	INTRINSIC_PARAM_COUNT = 32
	Number of float parameters in an intrinsic calibration model.
static constexpr std::size_t	WIRE_SIZE = 308
	Serialized size of the RGB_INFO field block, in bytes (the SEI user-data payload excluding the leading 16-byte UUID).
static constexpr std::array< std::uint8_t, 16 >	UUID
	16-byte RFC-4122 UUID identifying the RGB_INFO SEI payload (UUIDv5 of name "RGB_INFO"): e6ccb4b0-0071-580e-828d-928c60078143. More...

Detailed Description

Metadata transported in an H.264 SEI "unregistered user data" message (ITU-T H.264 §D.1, payloadType 5).

O3C devices embed a RGB_INFO structure (ticket O3C-6884) in every coded video frame. When the RtspClient decodes a frame it parses this SEI payload and attaches it to the delivered ifm3d::Buffer as JSON metadata (see the frame_metadata keys below), so applications can correlate the decoded image with the device's frame counter, timestamp and calibration.

Wire layout (all little-endian, IEEE-754 floats), 308 bytes total:

Offset  Field                    Type             Size
0x0000  version                  uint32           4
0x0004  frame_counter            uint32           4
0x0008  timestamp_ns             uint64           8
0x0010  exposure_time            float32          4
0x0014  extrinsic_optic_to_user  float32[6]       24
0x002C  intrinsic_calibration    uint32 + f32[32] 132
0x00B0  inverse_intrinsic_calib  uint32 + f32[32] 132

Member Data Documentation

UUID

constexpr std::array<std::uint8_t, 16> ifm3d::RgbInfo::UUID

staticconstexpr

Initial value:

= {0xe6,
                                                          0xcc,
                                                          0xb4,
                                                          0xb0,
                                                          0x00,
                                                          0x71,
                                                          0x58,
                                                          0x0e,
                                                          0x82,
                                                          0x8d,
                                                          0x92,
                                                          0x8c,
                                                          0x60,
                                                          0x07,
                                                          0x81,
                                                          0x43}

16-byte RFC-4122 UUID identifying the RGB_INFO SEI payload (UUIDv5 of name "RGB_INFO"): e6ccb4b0-0071-580e-828d-928c60078143.

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The documentation for this struct was generated from the following file:

• ifm3d/rtsp/frame_metadata.h