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feat(*): add external time source flag in img data

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kalman
2019-03-29 17:06:28 +08:00
parent 3ac3c7c8ee
commit 5017d5c901
2 changed files with 10 additions and 3 deletions
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8
src/mynteye/device/standard2/streams_adapter_s2.cc
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@@ -32,7 +32,8 @@ struct ImagePacket {
std::uint64_t timestamp;
std::uint16_t exposure_time;
std::uint8_t checksum;
// Is external time source
bool is_etc;
ImagePacket() = default;
explicit ImagePacket(std::uint8_t *data) {
from_data(data);
@@ -41,8 +42,8 @@ struct ImagePacket {
void from_data(std::uint8_t *data) {
std::uint32_t timestamp_l;
std::uint32_t timestamp_h;
header = *data;
header = *data & 0b0111;
is_ets = (*data & 0b1000 == 0b1000);
size = *(data + 1);
frame_id = (*(data + 2) << 8) | *(data + 3);
timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) |
@@ -138,6 +139,7 @@ bool unpack_stereo_img_data(
img->frame_id = img_packet.frame_id;
img->timestamp = img_packet.timestamp;
img->exposure_time = img_packet.exposure_time;
img->is_etc = img_packet.is_etc;
return true;
}