PR #13033 from remibettan: color_frame_timestamp_metadata_split_d400_…

…d500 d500 devices - hw ts from capture stats
IntelRealSense · Jun 19, 2024 · 8cbb2f2 · 8cbb2f2
2 parents b528706 + 8ba6584
commit 8cbb2f2
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Showing 5 changed files with 29 additions and 9 deletions.
diff --git a/src/ds/d400/d400-color.cpp b/src/ds/d400/d400-color.cpp
@@ -204,6 +204,15 @@ namespace librealsense
 
     void d400_color::register_metadata(const synthetic_sensor& color_ep) const
     {
+        color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp));
+
+        auto md_prop_offset = metadata_raw_mode_offset +
+            offsetof(md_rgb_mode, rgb_mode) +
+            offsetof(md_rgb_normal_mode, intel_capture_timing);
+
+        color_ep.register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, make_rs400_sensor_ts_parser(make_uvc_header_parser(&platform::uvc_header::timestamp),
+            make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset)));
+
         if (_separate_color)
         {
             auto md_prop_offset = metadata_raw_mode_offset +

diff --git a/src/ds/d500/d500-color.cpp b/src/ds/d500/d500-color.cpp
@@ -165,6 +165,20 @@ namespace librealsense
         color_ep.register_metadata(RS2_FRAME_METADATA_AUTO_EXPOSURE, make_attribute_parser(&md_rgb_control::ae_mode, md_rgb_control_attributes::ae_mode_attribute, md_prop_offset,
             [](rs2_metadata_type param) { return (param != 1); })); // OFF value via UVC is 1 (ON is 8)
 
+        md_prop_offset = metadata_raw_mode_offset +
+            offsetof(md_rgb_mode, rgb_mode) +
+            offsetof(md_rgb_normal_mode, intel_capture_stats);
+
+        color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_attribute_parser(&md_capture_stats::hw_timestamp, md_capture_stat_attributes::hw_timestamp_attribute, md_prop_offset));
+
+        md_prop_offset = metadata_raw_mode_offset +
+            offsetof(md_rgb_mode, rgb_mode) +
+            offsetof(md_rgb_normal_mode, intel_capture_timing);
+
+        color_ep.register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, 
+            make_rs400_sensor_ts_parser(make_attribute_parser(&md_capture_stats::hw_timestamp, md_capture_stat_attributes::hw_timestamp_attribute, md_prop_offset),
+            make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset)));
+
         _ds_color_common->register_metadata();
     }
 

diff --git a/src/ds/d500/d500-device.cpp b/src/ds/d500/d500-device.cpp
@@ -555,9 +555,6 @@ namespace librealsense
 
             depth_sensor.register_option( RS2_OPTION_ERROR_POLLING_ENABLED,
                                           std::make_shared< polling_errors_disable >( _polling_error_handler ) );
-
-            // Metadata registration
-            depth_sensor.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&uvc_header::timestamp));
         }); //group_multiple_fw_calls
 
         // attributes of md_capture_timing
@@ -566,14 +563,16 @@ namespace librealsense
             offsetof(md_depth_y_normal_mode, intel_capture_timing);
 
         depth_sensor.register_metadata(RS2_FRAME_METADATA_FRAME_COUNTER, make_attribute_parser(&md_capture_timing::frame_counter, md_capture_timing_attributes::frame_counter_attribute, md_prop_offset));
-        depth_sensor.register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, make_rs400_sensor_ts_parser(make_uvc_header_parser(&uvc_header::timestamp),
-            make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset)));
+        depth_sensor.register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, 
+            make_rs400_sensor_ts_parser(make_attribute_parser(&md_capture_stats::hw_timestamp, md_capture_stat_attributes::hw_timestamp_attribute, md_prop_offset),
+                make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset)));
 
         // attributes of md_capture_stats
         md_prop_offset = metadata_raw_mode_offset +
             offsetof(md_depth_mode, depth_y_mode) +
             offsetof(md_depth_y_normal_mode, intel_capture_stats);
 
+        depth_sensor.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_attribute_parser(&md_capture_stats::hw_timestamp, md_capture_stat_attributes::hw_timestamp_attribute, md_prop_offset));
         depth_sensor.register_metadata(RS2_FRAME_METADATA_WHITE_BALANCE, make_attribute_parser(&md_capture_stats::white_balance, md_capture_stat_attributes::white_balance_attribute, md_prop_offset));
 
         // attributes of md_depth_control

diff --git a/src/ds/ds-color-common.cpp b/src/ds/ds-color-common.cpp
@@ -66,7 +66,6 @@ namespace librealsense
 
     void ds_color_common::register_metadata()
     {
-        _color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp));
         _color_ep.register_metadata(RS2_FRAME_METADATA_ACTUAL_FPS, std::make_shared<ds_md_attribute_actual_fps>());
 
         // attributes of md_capture_timing
@@ -75,8 +74,6 @@ namespace librealsense
             offsetof(md_rgb_normal_mode, intel_capture_timing);
 
         _color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_COUNTER, make_attribute_parser(&md_capture_timing::frame_counter, md_capture_timing_attributes::frame_counter_attribute, md_prop_offset));
-        _color_ep.register_metadata(RS2_FRAME_METADATA_SENSOR_TIMESTAMP, make_rs400_sensor_ts_parser(make_uvc_header_parser(&platform::uvc_header::timestamp),
-            make_attribute_parser(&md_capture_timing::sensor_timestamp, md_capture_timing_attributes::sensor_timestamp_attribute, md_prop_offset)));
 
         // attributes of md_rgb_control
         md_prop_offset = metadata_raw_mode_offset +

diff --git a/src/metadata.h b/src/metadata.h
@@ -106,6 +106,7 @@ namespace librealsense
         zoom_factor_attribute           = (1u << 8),
         scene_mode_attribute            = (1u << 9),
         sensor_framerate_attribute      = (1u << 10),
+        hw_timestamp_attribute          = (1u << 11)
     };
 
     /**\brief md_depth_control_attributes - bit mask to find active attributes,
@@ -384,7 +385,7 @@ namespace librealsense
     {
         md_header   header;
         uint32_t    flags;
-        uint32_t    reserved;
+        uint32_t    hw_timestamp;
         uint64_t    exposure_time;
         uint64_t    exposure_compensation_flags;
         int32_t     exposure_compensation_value;