RawBuffer Struct Reference

Zero-copy wrapper for native camera capture buffers. More...

Functions
	RawBuffer ()
	Default constructor. More...
	~RawBuffer ()
	Destructor - automatically releases the buffer. More...
	RawBuffer (RawBuffer &&other) noexcept
RawBuffer &	operator= (RawBuffer &&other) noexcept
	RawBuffer (const RawBuffer &)=delete
RawBuffer &	operator= (const RawBuffer &)=delete
RAW_BUFFER_TYPE	getType () const
	Get the type of the raw buffer. More...
void *	getRawBuffer () const
	Get the left camera NvBufSurface pointer. More...
void *	getRawBufferRight () const
	Get the right camera NvBufSurface pointer. More...
RawBufferFd	getFd () const
	Get the dmabuf file descriptor handle backing the left camera buffer. More...
RawBufferFd	getFdRight () const
	Get the dmabuf file descriptor handle backing the right camera buffer. More...
uint64_t	getTimestamp () const
	Get the timestamp of the buffer. More...
unsigned int	getWidth () const
	Get the width of the image. More...
unsigned int	getHeight () const
	Get the height of the image. More...
bool	isValid () const
	Check if the buffer is valid and contains data. More...
void	release ()
	Manually release the buffer reference. More...

Detailed Description

Zero-copy wrapper for native camera capture buffers.

This structure provides access to the raw NvBufSurface buffer without copying data. The buffer is automatically released when the RawBuffer goes out of scope or when release() is called, allowing the camera pipeline to reuse the buffer for the next capture.

Warning

Enabled by defining SL_ENABLE_ADVANCED_CAPTURE_API before including this header. Improper use can crash the Argus stack or destabilize the system. The RawBuffer does not free the underlying memory; it only releases the reference so that the capture system can reuse it.

DO NOT manually destroy the NvBufSurface (e.g., do not call NvBufSurfaceDestroy, NvBufSurfaceUnMap, etc.). The buffers are owned and managed by the SDK. Manual destruction will cause crashes or undefined behavior.

Note

Currently only supports NVBUFSURFACE type (Argus native buffers).

#define SL_ENABLE_ADVANCED_CAPTURE_API
#include <sl/Camera.hpp>
 
Camera zed;
InitParameters init_params;
zed.open(init_params);
 
while (true) {
    if (zed.grab() == ERROR_CODE::SUCCESS) {
        RawBuffer raw;
        if (zed.retrieveImage(raw) == ERROR_CODE::SUCCESS) {
            // Get NvBufSurface pointer directly
            void* nvbufLeft = raw.getRawBuffer();  // Returns left NvBufSurface
            void* nvbufRight = raw.getRawBufferRight();  // Returns right NvBufSurface
 
            // Cast to NvBufSurface* and use with Argus/NVMM APIs
            // auto* surf = static_cast<NvBufSurface*>(nvbufLeft);
 
            // Optionally identify the frame by its dmabuf fd (see RawBufferFd
            // and Camera::getRawBufferPoolFds for zero-copy inter-process sharing)
            RawBufferFd fdLeft = raw.getFd();
            if (fdLeft.isValid()) {
                // publish {fdLeft.generation, fdLeft.fd} to subscribers
            }
            // raw is automatically released when going out of scope
        }
    }
}

Constructor and Destructor

RawBuffer() [1/3]

RawBuffer

(

)

Default constructor.

~RawBuffer()

~RawBuffer

(

)

Destructor - automatically releases the buffer.

RawBuffer() [2/3]

RawBuffer ( RawBuffer &&  other )

noexcept

RawBuffer() [3/3]

RawBuffer ( const RawBuffer &  )

delete

Functions

operator=() [1/2]

RawBuffer& operator= ( RawBuffer &&  other )

noexcept

operator=() [2/2]

RawBuffer& operator= ( const RawBuffer &  )

delete

getType()

RAW_BUFFER_TYPE getType

(

)

const

Get the type of the raw buffer.

Returns

The buffer type (currently only NVBUFSURFACE is supported).

getRawBuffer()

void* getRawBuffer

(

)

const

Get the left camera NvBufSurface pointer.

Returns

Pointer to the left NvBufSurface, or nullptr if not valid.

Note

Cast to NvBufSurface* to use with Argus/NVMM APIs.

Warning

DO NOT destroy this buffer (e.g., do not call NvBufSurfaceDestroy). The buffer is owned by the SDK.

getRawBufferRight()

void* getRawBufferRight

(

)

const

Get the right camera NvBufSurface pointer.

Returns

Pointer to the right NvBufSurface, or nullptr if not valid.

Note

Cast to NvBufSurface* to use with Argus/NVMM APIs.

Warning

DO NOT destroy this buffer (e.g., do not call NvBufSurfaceDestroy). The buffer is owned by the SDK.

getFd()

RawBufferFd getFd

(

)

const

Get the dmabuf file descriptor handle backing the left camera buffer.

The descriptor identifies which entry of the capture pool (see Camera::getRawBufferPoolFds) holds this frame: match it by fd value within the same generation.

Returns

A RawBufferFd handle. RawBufferFd::isValid() is false if the buffer does not come from the Argus stream-buffer capture pool (HDR camera family, non-GMSL input, CPU capture path) or if the pool has been retired.

Note

The descriptor is owned by the SDK: do not close() it.

getFdRight()

RawBufferFd getFdRight

(

)

const

Get the dmabuf file descriptor handle backing the right camera buffer.

Returns

A RawBufferFd handle (invalid on mono cameras). See getFd().

Note

The descriptor is owned by the SDK: do not close() it.

getTimestamp()

uint64_t getTimestamp

(

)

const

Get the timestamp of the buffer.

Returns

Timestamp in nanoseconds.

getWidth()

unsigned int getWidth

(

)

const

Get the width of the image.

Returns

Width in pixels.

getHeight()

unsigned int getHeight

(

)

const

Get the height of the image.

Returns

Height in pixels.

isValid()

bool isValid

(

)

const

Check if the buffer is valid and contains data.

Returns

true if the buffer is valid.

release()

void release

(

)

Manually release the buffer reference.

This allows the capture system to reuse the buffer. After calling this, the buffer is no longer valid.

Note

The buffer is automatically released when RawBuffer is destroyed.