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Merged
mattalvarado merged 3 commits into from
May 7, 2025
Merged

Add frame metadata #230

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e83281d
Add support for stereo histograms
mattalvarado May 2, 2025
41823e8
Add capture and exposure times to the image frame
mattalvarado May 4, 2025
72e42ac
Merge branch 'master' into malvarado/add_frame_metadata
mattalvarado May 7, 2025
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4 changes: 3 additions & 1 deletion python/bindings.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -249,7 +249,9 @@ PYBIND11_MODULE(_libmultisense, m) {
.def_readonly("frame_time", &multisense::ImageFrame::frame_time)
.def_readonly("ptp_frame_time", &multisense::ImageFrame::ptp_frame_time)
.def_readonly("aux_color_encoding", &multisense::ImageFrame::aux_color_encoding)
.def_readonly("stereo_histogram", &multisense::ImageFrame::stereo_histogram);
.def_readonly("stereo_histogram", &multisense::ImageFrame::stereo_histogram)
.def_readonly("capture_exposure_time", &multisense::ImageFrame::capture_exposure_time)
.def_readonly("capture_gain", &multisense::ImageFrame::capture_gain);

// ImuRate
py::class_<multisense::ImuRate>(m, "ImuRate")
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12 changes: 8 additions & 4 deletions source/LibMultiSense/details/legacy/channel.cc
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Expand Up @@ -1106,7 +1106,7 @@ void LegacyChannel::image_callback(std::shared_ptr<const std::vector<uint8_t>> d
scale_calibration(select_calibration(cal, source.front()), cal_x_scale, cal_y_scale)};

handle_and_dispatch(std::move(image),
get_histogram(meta->second),
meta->second,
wire_image.frameId,
scale_calibration(cal, cal_x_scale, cal_y_scale),
capture_time_point,
Expand Down Expand Up @@ -1175,7 +1175,7 @@ void LegacyChannel::disparity_callback(std::shared_ptr<const std::vector<uint8_t
scale_calibration(select_calibration(cal, source), cal_x_scale, cal_y_scale)};

handle_and_dispatch(std::move(image),
get_histogram(meta->second),
meta->second,
wire_image.frameId,
scale_calibration(cal, cal_x_scale, cal_y_scale),
capture_time_point,
Expand Down Expand Up @@ -1234,12 +1234,14 @@ void LegacyChannel::imu_callback(std::shared_ptr<const std::vector<uint8_t>> dat
}

void LegacyChannel::handle_and_dispatch(Image image,
ImageHistogram histogram,
const crl::multisense::details::wire::ImageMeta &metadata,
int64_t frame_id,
const StereoCalibration &calibration,
const TimeT &capture_time,
const TimeT &ptp_capture_time)
{
using namespace std::chrono;

//
// Create a new frame if one does not exist, or add the input image to the corresponding frame
//
Expand All @@ -1252,7 +1254,9 @@ void LegacyChannel::handle_and_dispatch(Image image,
capture_time,
ptp_capture_time,
m_calibration.aux ? ColorImageEncoding::YCBCR420 : ColorImageEncoding::NONE,
std::move(histogram)};
get_histogram(metadata),
microseconds{metadata.exposureTime},
metadata.gain};

m_frame_buffer.emplace(frame_id, std::move(frame));
}
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10 changes: 10 additions & 0 deletions source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh
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Expand Up @@ -384,6 +384,16 @@ struct ImageFrame
/// @brief Corresponding histogram from the main stereo pair
///
std::optional<ImageHistogram> stereo_histogram = std::nullopt;

///
/// @brief The exposure time which was used to capture this frame
///
std::chrono::microseconds capture_exposure_time{0};

///
/// @brief The gain that was used to capture the stereo images in this frame
///
float capture_gain = 0.0;
};

///
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2 changes: 1 addition & 1 deletion source/LibMultiSense/include/details/legacy/channel.hh
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Expand Up @@ -291,7 +291,7 @@ private:
/// @brief Handle internal process, and potentially dispatch a image
///
void handle_and_dispatch(Image image,
ImageHistogram histogram,
const crl::multisense::details::wire::ImageMeta &metadata,
int64_t frame_id,
const StereoCalibration &calibration,
const TimeT &capture_time,
Expand Down