fix(device):fix the image info bug for s1030

src/mynteye/device/channels.cc

@@ -127,7 +127,7 @@ Channels::Channels(std::shared_ptr<uvc::device> device)
       imu_sn_(0),
       imu_callback_(nullptr) {
   VLOG(2) << __func__;
-  UpdateControlInfos();
+  // UpdateControlInfos();
 }
 
 Channels::~Channels() {

src/mynteye/device/config.cc

@@ -51,17 +51,7 @@ const std::map<Model, std::map<Capabilities, StreamRequests>>
 stream_requests_map = {
   {Model::STANDARD,
     {{Capabilities::STEREO, {
-      {752, 480, Format::YUYV, 10},
+      {752, 480, Format::YUYV, 25}}
-      {752, 480, Format::YUYV, 15},
-      {752, 480, Format::YUYV, 20},
-      {752, 480, Format::YUYV, 25},
-      {752, 480, Format::YUYV, 30},
-      {752, 480, Format::YUYV, 35},
-      {752, 480, Format::YUYV, 40},
-      {752, 480, Format::YUYV, 45},
-      {752, 480, Format::YUYV, 50},
-      {752, 480, Format::YUYV, 55},
-      {752, 480, Format::YUYV, 60}}
     }}
   },
   {Model::STANDARD2,

src/mynteye/device/standard/streams_adapter_s.cc

@@ -13,7 +13,10 @@
 // limitations under the License.
 #include "mynteye/device/standard/streams_adapter_s.h"
 
+#include <iomanip>
+
 #include "mynteye/logger.h"
+#include "mynteye/device/types.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -45,6 +48,55 @@ bool unpack_right_img_pixels(
   return true;
 }
 
+bool unpack_stereo_img_data(
+    const void *data, const StreamRequest &request, ImgData *img) {
+  CHECK_NOTNULL(img);
+
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t data_n =
+      request.width * request.height * bytes_per_pixel(request.format);
+  auto data_end = data_new + data_n;
+
+  std::size_t packet_n = sizeof(ImagePacketS1);
+  std::vector<std::uint8_t> packet(packet_n);
+  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
+
+  ImagePacketS1 img_packet(packet.data());
+  // LOG(INFO) << "ImagePacket: header=0x" << std::hex <<
+  // static_cast<int>(img_packet.header)
+  //   << ", size=0x" << std::hex << static_cast<int>(img_packet.size)
+  //   << ", frame_id="<< std::dec << img_packet.frame_id
+  //   << ", timestamp="<< std::dec << img_packet.timestamp
+  //   << ", exposure_time="<< std::dec << img_packet.exposure_time
+  //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
+
+  if (img_packet.header != 0x3B) {
+    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.header) << " now";
+    return false;
+  }
+
+  std::uint8_t checksum = 0;
+  for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
+    checksum = (checksum ^ packet[i]);
+  }
+
+  if (img_packet.checksum != checksum) {
+    VLOG(2) << "Image packet checksum should be 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.checksum) << ", but 0x"
+            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
+            << " now";
+    return false;
+  }
+
+  img->frame_id = img_packet.frame_id;
+  img->timestamp = static_cast<uint64_t>(img_packet.timestamp * 10);
+  img->exposure_time = img_packet.exposure_time;
+  return true;
+}
+
 }  // namespace
 
 StandardStreamsAdapter::StandardStreamsAdapter() {

src/mynteye/device/standard2/streams_adapter_s2.cc

@@ -13,7 +13,10 @@
 // limitations under the License.
 #include "mynteye/device/standard2/streams_adapter_s2.h"
 
+#include <iomanip>
+
 #include "mynteye/logger.h"
+#include "mynteye/device/types.h"
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -63,6 +66,55 @@ bool unpack_right_img_pixels(
   return true;
 }
 
+bool unpack_stereo_img_data(
+    const void *data, const StreamRequest &request, ImgData *img) {
+  CHECK_NOTNULL(img);
+
+  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
+  std::size_t data_n =
+      request.width * request.height * bytes_per_pixel(request.format);
+  auto data_end = data_new + data_n;
+
+  std::size_t packet_n = sizeof(ImagePacketS2);
+  std::vector<std::uint8_t> packet(packet_n);
+  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
+
+  ImagePacketS2 img_packet(packet.data());
+  // LOG(INFO) << "ImagePacket: header=0x" << std::hex <<
+  // static_cast<int>(img_packet.header)
+  //   << ", size=0x" << std::hex << static_cast<int>(img_packet.size)
+  //   << ", frame_id="<< std::dec << img_packet.frame_id
+  //   << ", timestamp="<< std::dec << img_packet.timestamp
+  //   << ", exposure_time="<< std::dec << img_packet.exposure_time
+  //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
+
+  if (img_packet.header != 0x3B) {
+    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.header) << " now";
+    return false;
+  }
+
+  std::uint8_t checksum = 0;
+  for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
+    checksum = (checksum ^ packet[i]);
+  }
+/*
+  if (img_packet.checksum != checksum) {
+    VLOG(2) << "Image packet checksum should be 0x" << std::hex
+            << std::uppercase << std::setw(2) << std::setfill('0')
+            << static_cast<int>(img_packet.checksum) << ", but 0x"
+            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
+            << " now";
+    return false;
+  }
+*/
+  img->frame_id = img_packet.frame_id;
+  img->timestamp = img_packet.timestamp;
+  img->exposure_time = img_packet.exposure_time;
+  return true;
+}
+
 }  // namespace
 
 Standard2StreamsAdapter::Standard2StreamsAdapter() {

src/mynteye/device/streams.cc

@@ -15,7 +15,6 @@
 
 #include <algorithm>
 #include <chrono>
-#include <iomanip>
 #include <stdexcept>
 
 #include "mynteye/logger.h"
@@ -23,55 +22,6 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
-bool unpack_stereo_img_data(
-    const void *data, const StreamRequest &request, ImgData *img) {
-  CHECK_NOTNULL(img);
-
-  auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t data_n =
-      request.width * request.height * bytes_per_pixel(request.format);
-  auto data_end = data_new + data_n;
-
-  std::size_t packet_n = sizeof(ImagePacket);
-  std::vector<std::uint8_t> packet(packet_n);
-  std::reverse_copy(data_end - packet_n, data_end, packet.begin());
-
-  ImagePacket img_packet(packet.data());
-  // LOG(INFO) << "ImagePacket: header=0x" << std::hex <<
-  // static_cast<int>(img_packet.header)
-  //   << ", size=0x" << std::hex << static_cast<int>(img_packet.size)
-  //   << ", frame_id="<< std::dec << img_packet.frame_id
-  //   << ", timestamp="<< std::dec << img_packet.timestamp
-  //   << ", exposure_time="<< std::dec << img_packet.exposure_time
-  //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
-
-  if (img_packet.header != 0x3B) {
-    VLOG(2) << "Image packet header must be 0x3B, but 0x" << std::hex
-            << std::uppercase << std::setw(2) << std::setfill('0')
-            << static_cast<int>(img_packet.header) << " now";
-    return false;
-  }
-
-  std::uint8_t checksum = 0;
-  for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
-    checksum = (checksum ^ packet[i]);
-  }
-
-  if (img_packet.checksum != checksum) {
-    VLOG(2) << "Image packet checksum should be 0x" << std::hex
-            << std::uppercase << std::setw(2) << std::setfill('0')
-            << static_cast<int>(img_packet.checksum) << ", but 0x"
-            << std::setw(2) << std::setfill('0') << static_cast<int>(checksum)
-            << " now";
-    return false;
-  }
-
-  img->frame_id = img_packet.frame_id;
-  img->timestamp = img_packet.timestamp;
-  img->exposure_time = img_packet.exposure_time;
-  return true;
-}
-
 Streams::Streams(const std::shared_ptr<StreamsAdapter> &adapter)
     : key_streams_(std::move(adapter->GetKeyStreams())),
       stream_capabilities_(std::move(adapter->GetStreamCapabilities())),

src/mynteye/device/streams.h

@@ -28,8 +28,10 @@
 
 MYNTEYE_BEGIN_NAMESPACE
 
+/*
 extern bool unpack_stereo_img_data(
     const void *data, const StreamRequest &request, ImgData *img);
+*/
 
 class StreamsAdapter;
 

src/mynteye/device/types.h

@@ -140,10 +140,10 @@ struct MYNTEYE_API DeviceInfo {
 
 /**
  * @ingroup datatypes
- * Image packet.
+ * Image packet for standand 2.
  */
 #pragma pack(push, 1)
-struct ImagePacket {
+struct ImagePacketS2 {
   std::uint8_t header;
   std::uint8_t size;
   std::uint16_t frame_id;
@@ -151,8 +151,8 @@ struct ImagePacket {
   std::uint16_t exposure_time;
   std::uint8_t checksum;
 
-  ImagePacket() = default;
+  ImagePacketS2() = default;
-  explicit ImagePacket(std::uint8_t *data) {
+  explicit ImagePacketS2(std::uint8_t *data) {
     from_data(data);
   }
 
@@ -174,6 +174,36 @@ struct ImagePacket {
 };
 #pragma pack(pop)
 
+/**
+ * @ingroup datatypes
+ * Image packet for standand 1.
+ */
+#pragma pack(push, 1)
+struct ImagePacketS1 {
+  std::uint8_t header;
+  std::uint8_t size;
+  std::uint16_t frame_id;
+  std::uint32_t timestamp;
+  std::uint16_t exposure_time;
+  std::uint8_t checksum;
+
+  ImagePacketS1() = default;
+  explicit ImagePacketS1(std::uint8_t *data) {
+    from_data(data);
+  }
+
+  void from_data(std::uint8_t *data) {
+    header = *data;
+    size = *(data + 1);
+    frame_id = (*(data + 2) << 8) | *(data + 3);
+    timestamp = (*(data + 4) << 24) | (*(data + 5) << 16) | (*(data + 6) << 8) |
+                *(data + 7);
+    exposure_time = (*(data + 8) << 8) | *(data + 9);
+    checksum = *(data + 10);
+  }
+};
+#pragma pack(pop)
+
 /**
  * @ingroup datatypes
  * Imu request packet.