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RDI API Reference

RDI (Raptor Drone Integration) API

Macros​

NameDescription
RDI_PLUGIN_EXPORT
RDI_API_VERSION

Macro Details​

RDI_PLUGIN_EXPORT​

#define RDI_PLUGIN_EXPORT __attribute__((visibility("default")))

RDI_API_VERSION​

#define RDI_API_VERSION (1000)

Types​

NameDescription
rdi_result_tGeneral plugin function result
rdi_image_format_tType of image format Note: Images are expected to be in non-linear color space (gamma-encoded)
rdi_image_type_tType of sensor image
rdi_lens_model_tLens model types
rdi_lq_tLink quality (LQ)
rdi_position_sPosition information
rdi_orientation_sOrientation information
rdi_image_sImage used for a frame.
rdi_lens_sLens parameters with model-specific parameters
rdi_frame_sFrame containing image and metadata Allocate a frame using the alloc() function.
rdi_context_sContext for the current stream const char* is pointer to null-terminated UTF-8 string.
rdi_func_sRDI functions
rdi_plugin_decl_sRDI declaration

Type Aliases​

NameDescription
rdi_plugin_func_tFunction signature

Functions​

NameDescription
rdi_get_plugin_declGet the declaration of the RDI plugin (return static data).

rdi_result_t​

enum rdi_result_t

General plugin function result

RDI_RESULT_OK

RDI_RESULT_STREAM_COMPLETED : Clean end of stream (e.g., EOF for file, graceful RTSP close)

RDI_RESULT_ERROR

RDI_RESULT_ERROR_STREAM_DISRUPTED : Stream broken/disconnected (e.g., network error, connection lost)

rdi_image_format_t​

enum rdi_image_format_t

Type of image format

Note: Images are expected to be in non-linear color space (gamma-encoded)

rdi_image_type_t​

enum rdi_image_type_t

Type of sensor image

rdi_lens_model_t​

enum rdi_lens_model_t

Lens model types

rdi_lq_t​

enum rdi_lq_t

Link quality (LQ)

rdi_position_s​

struct rdi_position_s

Position information

Variables​

NameDescription
lat_degLatitude in degrees (WGS84)
lon_degLongitude in degrees (WGS84)
alt_mAltitude in meters (above sea level)

Variable Details​

alt_m​

double alt_m

Altitude in meters (above sea level)

lat_deg​

double lat_deg

Latitude in degrees (WGS84)

lon_deg​

double lon_deg

Longitude in degrees (WGS84)

rdi_orientation_s​

struct rdi_orientation_s

Orientation information

Variables​

NameDescription
yaw_degYaw angle in degrees (0 = north, 90 = east)
pitch_degPitch angle in degrees (positive = up)
roll_degRoll angle in degrees (positive = right)

Variable Details​

pitch_deg​

double pitch_deg

Pitch angle in degrees (positive = up)

roll_deg​

double roll_deg

Roll angle in degrees (positive = right)

yaw_deg​

double yaw_deg

Yaw angle in degrees (0 = north, 90 = east)

rdi_image_s​

struct rdi_image_s

Image used for a frame.

Allocating a frame, using rdi_frame_alloc(), will also allocate and initialize the image data buffer.

Variables​

NameDescription
format[const] Image format
width[const] Image width in pixels
height[const] Image height in pixels
stride[const] Bytes per row
typeImage type
bufferImage data buffer

Variable Details​

buffer​

void* buffer

Image data buffer

format​

rdi_image_format_t format

[const] Image format

height​

uint32_t height

[const] Image height in pixels

stride​

uint32_t stride

[const] Bytes per row

type​

rdi_image_type_t type

Image type

width​

uint32_t width

[const] Image width in pixels

rdi_lens_s​

struct rdi_lens_s

Lens parameters with model-specific parameters

Variables​

NameDescription
modelLens model
width[const] Image width in pixels
height[const] Image height in pixels
pinholePinhole lens parameters
distoredDistorted lens parameters
fisheyeFisheye lens parameters

Variable Details​

distored​

rdi_lens_param_distored_t distored

Distorted lens parameters

fisheye​

rdi_lens_param_fisheye_t fisheye

Fisheye lens parameters

height​

uint32_t height

[const] Image height in pixels

model​

rdi_lens_model_t model

Lens model

pinhole​

rdi_lens_param_pinhole_t pinhole

Pinhole lens parameters

width​

uint32_t width

[const] Image width in pixels

rdi_frame_s​

struct rdi_frame_s

Frame containing image and metadata

Allocate a frame using the alloc() function.

Variables​

NameDescription
timestamp_usCapture timestamp in microseconds
frame_numberShould be increasing per frame in a stream
lensLens models with parameters
imageImage data
positionPosition information
orientationOrientation information

Variable Details​

frame_number​

uint64_t frame_number

Should be increasing per frame in a stream

image​

rdi_image_t image

Image data

lens​

rdi_lens_t lens

Lens models with parameters

orientation​

rdi_orientation_t orientation

Orientation information

position​

rdi_position_t position

Position information

timestamp_us​

int64_t timestamp_us

Capture timestamp in microseconds

rdi_context_s​

struct rdi_context_s

Context for the current stream

const char* is pointer to null-terminated UTF-8 string. The pointer might be NULL.

Variables​

NameDescription
userdataPointer to userdata (optional).
identifierUsed to identify a specific stream.
filepathAbsolute file path on file system.
urlComplete URL, see below for broken into parts.
url_schemeURL scheme
url_usernameURL username
url_passwordURL password
url_hostnameURL hostname
url_portPort extracted from the url, or 0 if not specified (no default port by scheme).
url_pathURL path
url_queryURL query (Percent-encoded)
url_fragmentURL fragment

Variable Details​

filepath​

const char* filepath

Absolute file path on file system. NULL if not used.

identifier​

const char* identifier

Used to identify a specific stream. Empty string if not used.

url​

const char* url

Complete URL, see below for broken into parts. file:// will be treated as a URL.

url_fragment​

const char* url_fragment

URL fragment

url_hostname​

const char* url_hostname

URL hostname

url_password​

const char* url_password

URL password

url_path​

const char* url_path

URL path

url_port​

unsigned int url_port

Port extracted from the url, or 0 if not specified (no default port by scheme).

url_query​

const char* url_query

URL query (Percent-encoded)

url_scheme​

const char* url_scheme

URL scheme

url_username​

const char* url_username

URL username

userdata​

void* userdata

Pointer to userdata (optional). Handled freely by plugin.

rdi_func_s​

struct rdi_func_s

RDI functions

Variables​

NameDescription
frame_alloc
frame_submit
frame_drop
parse_iso_time_usParse time into microseconds (UTC) from ISO8601 time. Returns -1 on error.
current_time_usGet current time in microseconds (UTC).

Variable Details​

frame_alloc​

rdi_frame_t* (*frame_alloc)(rdi_context_t* context, rdi_image_format_t format, uint32_t width, uint32_t height)

frame_submit​

void (*frame_submit)(rdi_context_t* context, rdi_frame_t* frame, const char* stream_id)

frame_drop​

void (*frame_drop)(rdi_context_t* context, rdi_frame_t* frame, const char* stream_id, const char* reason)

parse_iso_time_us​

int64_t (*parse_iso_time_us)(const char* time_str)

Parse time into microseconds (UTC) from ISO8601 time. Returns -1 on error.

current_time_us​

int64_t (*current_time_us)()

Get current time in microseconds (UTC).

rdi_plugin_func_t​

typedef rdi_result_t (*rdi_plugin_func_t)(rdi_func_t*, rdi_context_t*)

Function signature

rdi_plugin_decl_s​

struct rdi_plugin_decl_s

RDI declaration

Variables​

NameDescription
api_versionAPI version
initInit function
runRun function
shutdownShutdown function
namePlugin name
versionPlugin version
descriptionPlugin description
configPointer to null-terminated UTF-8 string containing a JSON document

Variable Details​

api_version​

unsigned int api_version

API version

config​

const char* config

Pointer to null-terminated UTF-8 string containing a JSON document

description​

const char* description

Plugin description

init​

rdi_plugin_func_t init

Init function

name​

const char* name

Plugin name

run​

rdi_plugin_func_t run

Run function

shutdown​

rdi_plugin_func_t shutdown

Shutdown function

version​

const char* version

Plugin version

rdi_get_plugin_decl​

function

RDI_PLUGIN_EXPORT const rdi_plugin_decl_t* rdi_get_plugin_decl(void);

Get the declaration of the RDI plugin (return static data).