Add calib_info frame counter

kirkoman · Nov 5, 2022 · 03bee19 · 03bee19
1 parent 03e120c
commit 03bee19
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Showing 4 changed files with 12 additions and 3 deletions.
diff --git a/include/librealsense2/h/rs_frame.h b/include/librealsense2/h/rs_frame.h
@@ -72,6 +72,7 @@ typedef enum rs2_frame_metadata_value
     RS2_FRAME_METADATA_INPUT_WIDTH,
     RS2_FRAME_METADATA_INPUT_HEIGHT,
     RS2_FRAME_METADATA_SUB_PRESET_INFO,
+    RS2_FRAME_METADATA_CALIB_INFO,
     RS2_FRAME_METADATA_CRC,
 
     RS2_FRAME_METADATA_COUNT

diff --git a/src/ds5/ds5-device.cpp b/src/ds5/ds5-device.cpp
@@ -1314,10 +1314,14 @@ namespace librealsense
                                        make_attribute_parser(&md_mipi_depth_mode::input_height,
                                                              md_mipi_depth_control_attributes::input_height_attribute,
                                                              md_prop_offset));
-        depth_sensor.register_metadata(RS2_FRAME_METADATA_SUB_PRESET_INFO, // added for mipi
+        depth_sensor.register_metadata(RS2_FRAME_METADATA_SUB_PRESET_INFO,
                                        make_attribute_parser(&md_mipi_depth_mode::sub_preset_info,
                                                              md_mipi_depth_control_attributes::sub_preset_info_attribute,
                                                              md_prop_offset));
+        depth_sensor.register_metadata(RS2_FRAME_METADATA_CALIB_INFO,
+                                       make_attribute_parser(&md_mipi_depth_mode::calib_info,
+                                                             md_mipi_depth_control_attributes::calibration_info_attribute,
+                                                             md_prop_offset));
         depth_sensor.register_metadata(RS2_FRAME_METADATA_CRC, // added for mipi
                                        make_attribute_parser(&md_mipi_depth_mode::crc,
                                                              md_mipi_depth_control_attributes::crc_attribute,

diff --git a/src/metadata.h b/src/metadata.h
@@ -136,7 +136,8 @@ namespace librealsense
         input_width_attribute           = (1u << 10),
         input_height_attribute          = (1u << 11),
         sub_preset_info_attribute       = (1u << 12),
-        crc_attribute                   = (1u << 13)
+        calibration_info_attribute      = (1u << 13), // shall be used to stire the frame counter in calibration routines
+        crc_attribute                   = (1u << 14)
     };
 
     /**\brief md_mipi_rgb_control_attributes - bit mask to find active attributes,
@@ -368,7 +369,9 @@ namespace librealsense
     struct md_mipi_depth_mode
     {
         md_header   header;
-        uint32_t    version;  // maybe need to replace by uint8_t for version and 3 others for reserved
+        uint8_t     version;  // maybe need to replace by uint8_t for version and 3 others for reserved
+        uint16_t    calib_info;
+        uint8_t     reserved;
         uint32_t    flags;              // Bit array to specify attributes that are valid
         uint32_t    hw_timestamp;
         uint32_t    optical_timestamp;   //In microsecond unit

diff --git a/src/to-string.cpp b/src/to-string.cpp
@@ -530,6 +530,7 @@ const char * get_string( rs2_frame_metadata_value value )
     CASE( INPUT_WIDTH )
     CASE( INPUT_HEIGHT )
     CASE( SUB_PRESET_INFO )
+    CASE( CALIB_INFO )
     CASE( CRC )
 
     default: