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

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This commit is contained in:
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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5
include/mynteye/types.h
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@ -660,11 +660,14 @@ struct MYNTEYE_API ImgData {
std::uint64_t timestamp; std::uint64_t timestamp;
/** Image exposure time, virtual value in [1, 480] */ /** Image exposure time, virtual value in [1, 480] */
std::uint16_t exposure_time; std::uint16_t exposure_time;
/** Is external time source */
bool is_etc = false;
void Reset() { void Reset() {
frame_id = 0; frame_id = 0;
timestamp = 0; timestamp = 0;
exposure_time = 0; exposure_time = 0;
is_etc = false;
} }
ImgData() { ImgData() {
@ -674,11 +677,13 @@ struct MYNTEYE_API ImgData {
frame_id = other.frame_id; frame_id = other.frame_id;
timestamp = other.timestamp; timestamp = other.timestamp;
exposure_time = other.exposure_time; exposure_time = other.exposure_time;
is_etc = other.is_etc;
} }
ImgData &operator=(const ImgData &other) { ImgData &operator=(const ImgData &other) {
frame_id = other.frame_id; frame_id = other.frame_id;
timestamp = other.timestamp; timestamp = other.timestamp;
exposure_time = other.exposure_time; exposure_time = other.exposure_time;
is_etc = other.is_etc;
return *this; return *this;
} }
}; };

8
src/mynteye/device/standard2/streams_adapter_s2.cc
View File

@ -32,7 +32,8 @@ struct ImagePacket {
std::uint64_t timestamp; std::uint64_t timestamp;
std::uint16_t exposure_time; std::uint16_t exposure_time;
std::uint8_t checksum; std::uint8_t checksum;
// Is external time source
bool is_etc;
ImagePacket() = default; ImagePacket() = default;
explicit ImagePacket(std::uint8_t *data) { explicit ImagePacket(std::uint8_t *data) {
from_data(data); from_data(data);
@ -41,8 +42,8 @@ struct ImagePacket {
void from_data(std::uint8_t *data) { void from_data(std::uint8_t *data) {
std::uint32_t timestamp_l; std::uint32_t timestamp_l;
std::uint32_t timestamp_h; std::uint32_t timestamp_h;
header = *data & 0b0111;
header = *data; is_ets = (*data & 0b1000 == 0b1000);
size = *(data + 1); size = *(data + 1);
frame_id = (*(data + 2) << 8) | *(data + 3); frame_id = (*(data + 2) << 8) | *(data + 3);
timestamp_h = (*(data + 4) << 24) | (*(data + 5) << 16) | 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->frame_id = img_packet.frame_id;
img->timestamp = img_packet.timestamp; img->timestamp = img_packet.timestamp;
img->exposure_time = img_packet.exposure_time; img->exposure_time = img_packet.exposure_time;
img->is_etc = img_packet.is_etc;
return true; return true;
} }