auterion::DisplayedView Struct Reference

The region of a source frame that is shown in the displayed video output. More...

#include <auterion_sdk/video/displayed_view.hpp>

Public Attributes
uint16_t	frame_id {0}
	Id of the source frame (0 = unset).
rclcpp::Time	timestamp {}
	Source frame capture time from its header (RCL_ROS_TIME).
float	x {0.0F}
	Left edge of the displayed region [source px, signed].
float	y {0.0F}
	Top edge of the displayed region [source px, signed].
float	width {0.0F}
	Width of the displayed region [source px] (0 = unset).
float	height {0.0F}
	Height of the displayed region [source px] (0 = unset).
int16_t	rotation_deg {0}
	Display rotation [deg], multiple of 90, CCW positive.
uint32_t	source_width {0}
	Source frame width [px] (0 = unset).
uint32_t	source_height {0}
	Source frame height [px] (0 = unset).

Detailed Description

The region of a source frame that is shown in the displayed video output.

Published once per displayed output frame by the pipeline that produces the displayed stream (digital zoom, tracking-follow crop, stabilisation, rotation) and keyed to the source frame by frame_id.

The rect is in source pixels and signed: stabilisation may push it partially outside the source frame. A source-pixel point (px, py) appears in the displayed image at the normalized position u = (px - x) / width, v = (py - y) / height, after which rotation_deg is applied (90-degree steps, counter-clockwise positive).

The mapping assumes the displayed output frame shows exactly the rotated view rect, so the rect carries the aspect ratio of that output. An output that letterboxes or pads the view rect cannot be described in this version. rotation_deg must be a multiple of 90: consumers treat a view with any other rotation as if none had been published.

The identity view is the full source rect with rotation 0. Publishing the identity view means "displayed = source"; silence means no view information exists. A default-constructed DisplayedView is not the identity view: its zero extents make it unusable, so the identity rect has to be filled in explicitly.

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

• include/auterion_sdk/video/displayed_view.hpp