rs2::gpu_frame Class Reference

#include <rs_frame.hpp>

Inheritance diagram for rs2::gpu_frame:

Public Member Functions
	gpu_frame (const frame &f)
const void *	get_gpu_data () const
Public Member Functions inherited from rs2::frame
	frame ()
	frame (rs2_frame *ref)
	frame (frame &&other) noexcept
frame &	operator= (frame other)
	frame (const frame &other)
void	swap (frame &other)
	~frame ()
void	keep ()
	operator bool () const
rs2_sensor *	get_sensor ()
double	get_timestamp () const
rs2_timestamp_domain	get_frame_timestamp_domain () const
rs2_metadata_type	get_frame_metadata (rs2_frame_metadata_value frame_metadata) const
bool	supports_frame_metadata (rs2_frame_metadata_value frame_metadata) const
unsigned long long	get_frame_number () const
const int	get_data_size () const
const void *	get_data () const
const void *	get_gpu_data_or_upload (bool *copied=nullptr) const
stream_profile	get_profile () const
template<class T>
bool	is () const
template<class T>
T	as () const
rs2_frame *	get () const
	operator rs2_frame * ()
frame	apply_filter (filter_interface &filter)

Additional Inherited Members
Protected Member Functions inherited from rs2::frame
void	add_ref () const
void	reset ()

Detailed Description

GPU-Frame extension: present when the frame's pixels reside in GPU-accessible (zero-copy) memory. Reach it with frame::as<gpu_frame>() — the cast is null unless the SDK was built with BUILD_WITH_CUDA_ZEROCOPY and the frame is GPU-resident (integrated GPU / Jetson). This mirrors rs2::gl::gpu_frame: get_data() on the base frame keeps returning the HOST pointer (the viewer, recording, pyrealsense2/OpenCV and any CPU code still use it); the GPU device pointer is a SEPARATE accessor on this extension. Typical use:

auto color = frames.get_color_frame();
const void * host = color.get_data();              // host pointer, always valid
if( auto gf = color.as<rs2::gpu_frame>() )          // true only when GPU-resident
    feed_cuda( gf.get_gpu_data() );                 // device pointer, no host->device copy
else
    feed_cuda( color.get_gpu_data_or_upload() );    // not zero-copy: upload (a copy)

Constructor & Destructor Documentation

gpu_frame()

rs2::gpu_frame::gpu_frame ( const frame & f )

inline

Member Function Documentation

get_gpu_data()

const void * rs2::gpu_frame::get_gpu_data ( ) const

inline

Retrieve the CUDA device pointer aliasing the frame data for zero-copy GPU consumption (e.g. binding the frame directly as a CUDA / TensorRT / NPP input with no host->device copy). The frame must stay alive (hold it) until the GPU work completes.

Returns

GPU device pointer aliasing the frame data

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

• /usr/src/RPM/BUILD/librealsense-2.59.1/include/librealsense2/hpp/rs_frame.hpp