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change ACTUAL_FPS to be x1000 for more syncer precision
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# Conflicts:
#	src/sync.cpp
#	src/sync.h
#	unit-tests/syncer/sw.py
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@maloel
maloel committed Oct 26, 2023
1 parent c19a3cb commit 6e92eb5
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Showing 9 changed files with 60 additions and 53 deletions.
8 changes: 4 additions & 4 deletions common/output-model.cpp
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Expand Up @@ -1083,12 +1083,12 @@ void frame_drops_dashboard::process_frame(rs2::frame f)
{
auto last = stream_to_time[f.get_profile().unique_id()];

long long fps = f.get_profile().fps();
double fps = (double)f.get_profile().fps();

if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
fps = f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS);
if( f.supports_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) )
fps = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.;

if (1000.f * (ts - last) > 1.5f * (1000.f / fps)) {
if (1000. * (ts - last) > 1.5 * (1000. / fps)) {
drops++;
}
}
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6 changes: 3 additions & 3 deletions common/stream-model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -895,7 +895,7 @@ namespace rs2
{ RS2_FRAME_METADATA_TEMPERATURE,
"Temperature of the device, measured at the time of the frame capture. Celsius degrees " },
{ RS2_FRAME_METADATA_BACKEND_TIMESTAMP, "Timestamp get from uvc driver. usec" },
{ RS2_FRAME_METADATA_ACTUAL_FPS, "Actual hardware FPS. May differ from requested due to Auto-Exposure" },
{ RS2_FRAME_METADATA_ACTUAL_FPS, "Hardware FPS * 1000, or 1000000*d_frame_number/d_timestamp since previous frame" },
{ RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE,
"Laser power mode. Zero corresponds to Laser power switched off and one for switched on." },
{ RS2_FRAME_METADATA_EXPOSURE_PRIORITY,
Expand All @@ -912,10 +912,10 @@ namespace rs2
{
auto val = (rs2_frame_metadata_value)i;
std::string name = rs2_frame_metadata_to_string( val );
std::string desc = "";
std::string desc;
if( descriptions.find( val ) != descriptions.end() )
desc = descriptions[val];
stream_details.push_back( { name, rsutils::string::from() << kvp.second, desc } );
stream_details.push_back( { name, rsutils::string::from( kvp.second ), desc } );
}
}

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2 changes: 1 addition & 1 deletion include/librealsense2/h/rs_frame.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ typedef enum rs2_frame_metadata_value
RS2_FRAME_METADATA_TIME_OF_ARRIVAL , /**< Time of arrival in system clock */
RS2_FRAME_METADATA_TEMPERATURE , /**< Temperature of the device, measured at the time of the frame capture. Celsius degrees */
RS2_FRAME_METADATA_BACKEND_TIMESTAMP , /**< Timestamp get from uvc driver. usec*/
RS2_FRAME_METADATA_ACTUAL_FPS , /**< Actual fps */
RS2_FRAME_METADATA_ACTUAL_FPS , /**< Actual fps, times 1000 (30.1 fps would be 30100 in the metadata) */
RS2_FRAME_METADATA_FRAME_LASER_POWER , /**< Laser power value 0-360. */
RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE , /**< Laser power mode. Zero corresponds to Laser power switched off and one for switched on. deprecated, replaced by RS2_FRAME_METADATA_FRAME_EMITTER_MODE*/
RS2_FRAME_METADATA_EXPOSURE_PRIORITY , /**< Exposure priority. */
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25 changes: 16 additions & 9 deletions src/metadata-parser.h
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Expand Up @@ -349,15 +349,23 @@ namespace librealsense
{
// A computation involving unsigned operands can never overflow (ISO/IEC 9899:1999 (E) \A76.2.5/9)
// In case of frame counter reset fallback use fps from the stream configuration
auto num_of_frames = (frm.additional_data.frame_number) ? frm.additional_data.frame_number - frm.additional_data.last_frame_number : 0;
auto num_of_frames = frm.additional_data.frame_number
? frm.additional_data.frame_number - frm.additional_data.last_frame_number
: 0;

if (num_of_frames == 0)
{
LOG_INFO("Frame counter reset");
}
else
{
auto diff
= ( frm.additional_data.timestamp - frm.additional_data.last_timestamp ) / (double)num_of_frames;
if( diff > 0 )
return std::max( 1000. / diff, 1. );
}

auto diff = num_of_frames ? (double)(frm.additional_data.timestamp - frm.additional_data.last_timestamp) / (double)num_of_frames : 0;
return diff > 0 ? std::max(1000.f / std::ceil(diff), (double)1) : frm.get_stream()->get_framerate();
return frm.get_stream()->get_framerate();
}
};

Expand Down Expand Up @@ -389,32 +397,31 @@ namespace librealsense
auto exp_in_micro = _exposure_modifyer(exp);
if (exp_in_micro > 0)
{
auto fps = 1000000.f / exp_in_micro;
auto fps = 1000000. / exp_in_micro;

if (_discrete)
{
if (fps >= _fps_values.back())
{
fps = static_cast<float>(_fps_values.back());
fps = static_cast<double>(_fps_values.back());
}
else
{
for (size_t i = 0; i < _fps_values.size() - 1; i++)
{
if (fps < _fps_values[i + 1])
{
fps = static_cast<float>(_fps_values[i]);
fps = static_cast<double>(_fps_values[i]);
break;
}
}
}
}
return std::min((int)fps, (int)frm.get_stream()->get_framerate());
return rs2_metadata_type( std::min( fps, (double)frm.get_stream()->get_framerate() ) * 1000 );
}
}

return (rs2_metadata_type)_fps_calculator.get_fps(frm);

return rs2_metadata_type( _fps_calculator.get_fps( frm ) * 1000 );
}

bool supports(const librealsense::frame & frm) const override
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2 changes: 1 addition & 1 deletion src/proc/syncer-processing-block.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ namespace librealsense
: processing_block("syncer"), _matcher((new composite_identity_matcher({})))
, _enable_opts(enable_opts.begin(), enable_opts.end())
{
_matcher->set_callback( [this]( frame_holder f, syncronization_environment env ) {
_matcher->set_callback( []( frame_holder f, syncronization_environment const & env ) {
if( env.log )
{
LOG_DEBUG( "<-- queueing " << f );
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28 changes: 15 additions & 13 deletions src/sync.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -563,22 +563,17 @@ namespace librealsense

void timestamp_composite_matcher::update_last_arrived(frame_holder& f, matcher* m)
{
if(f->supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
_fps[m] = (uint32_t)f->get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS);
else
_fps[m] = f->get_stream()->get_framerate();

auto const now = time_service::get_time();
//LOG_DEBUG( _name << ": _last_arrived[" << m->get_name() << "] = " << now );
_last_arrived[m] = now;
}

unsigned int timestamp_composite_matcher::get_fps( frame_interface const * f )
double timestamp_composite_matcher::get_fps( frame_interface const * f )
{
uint32_t fps = 0;
double fps = 0.;
if(f->supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
fps = (uint32_t)f->get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS);
fps = f->get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.;
}
if( fps )
{
Expand All @@ -597,7 +592,7 @@ namespace librealsense
const frame_holder & f )
{
auto fps = get_fps( f );
auto gap = 1000.f / (float)fps;
auto gap = 1000. / fps;

auto ts = f.frame->get_frame_timestamp();
auto ne = ts + gap;
Expand Down Expand Up @@ -687,7 +682,7 @@ namespace librealsense
{
// Wait for the missing stream frame to arrive -- up to a cutout: anything more and we
// let the frameset be ready without it...
auto gap = 1000.f / fps;
auto gap = 1000. / fps;
// NOTE: the threshold is a function of the gap; the bigger it is, the more latency
// between the streams we're willing to live with. Each gap is a frame so we are limited
// by the number of frames we're willing to keep (which is our queue limit)
Expand All @@ -714,10 +709,17 @@ namespace librealsense
fps ); // should be min fps to match behavior elsewhere?
}

bool timestamp_composite_matcher::are_equivalent( double a, double b, unsigned int fps )
bool timestamp_composite_matcher::are_equivalent( double a, double b, double fps )
{
float gap = 1000.f / fps;
return abs(a - b) < (gap / 2);
auto gap = 1000. / fps;
if( abs( a - b ) < (gap / 2) )
{
//LOG_DEBUG( "... " << a << " == " << b << " {diff}" << abs( a - b ) << " < " << (gap / 2) << "{gap/2}" );
return true;
}

//LOG_DEBUG( "... " << a << " != " << b << " {diff}" << abs( a - b ) << " >= " << ( gap / 2 ) << "{gap/2}" );
return false;
}

composite_identity_matcher::composite_identity_matcher(
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6 changes: 2 additions & 4 deletions src/sync.h
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Original file line number Diff line number Diff line change
Expand Up @@ -180,10 +180,8 @@ namespace librealsense
const frame_holder & f ) override;

private:
unsigned int get_fps( frame_interface const * f );
bool are_equivalent( double a, double b, unsigned int fps );
double get_fps( frame_interface const * f );
bool are_equivalent( double a, double b, double fps );
std::map<matcher*, double> _last_arrived;
std::map<matcher*, unsigned int> _fps;

};
}
2 changes: 1 addition & 1 deletion unit-tests/live/syncer/test-throughput.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ TEST_CASE( "Syncer dynamic FPS - throughput test" )
if (!f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS) || !f.supports_frame_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP))
return;
auto frame_num = f.get_frame_number();
auto actual_fps = (float)f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS);
auto actual_fps = f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS) / 1000.f;
auto frame_arrival = f.get_frame_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP); // usec
if (stream_type == "Infrared 1")
_ir_frames_arrival_info.push_back({ (float)frame_arrival, actual_fps });
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34 changes: 17 additions & 17 deletions unit-tests/unit-tests-live.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ TEST_CASE("Sync sanity", "[live][mayfail]") {
}

std::vector<std::vector<double>> all_timestamps;
auto actual_fps = fps;
auto actual_fps = float( fps );

for (auto i = 0; i < 200; i++)
{
Expand All @@ -61,7 +61,7 @@ TEST_CASE("Sync sanity", "[live][mayfail]") {

if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS));
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
Expand Down Expand Up @@ -98,7 +98,7 @@ TEST_CASE("Sync sanity", "[live][mayfail]") {
continue;

std::sort(set_timestamps.begin(), set_timestamps.end());
REQUIRE(set_timestamps[set_timestamps.size() - 1] - set_timestamps[0] <= (float)1000 / (float)actual_fps);
REQUIRE(set_timestamps[set_timestamps.size() - 1] - set_timestamps[0] <= 1000.f / actual_fps);
}

CAPTURE(num_of_partial_sync_sets);
Expand Down Expand Up @@ -2801,13 +2801,13 @@ TEST_CASE("Auto-complete feature works", "[offline][util::config][using_pipeline
//}


void validate(std::vector<std::vector<stream_profile>> frames, std::vector<std::vector<double>> timestamps, device_profiles requests, int actual_fps)
void validate(std::vector<std::vector<stream_profile>> frames, std::vector<std::vector<double>> timestamps, device_profiles requests, float actual_fps)
{
REQUIRE(frames.size() > 0);

int successful = 0;

auto gap = (float)1000 / (float)actual_fps;
auto gap = 1000.f / actual_fps;

auto ts = 0;

Expand Down Expand Up @@ -2957,7 +2957,7 @@ TEST_CASE("Pipeline wait_for_frames", "[live][pipeline][using_pipeline][!mayfail
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(10000));

auto actual_fps = pipeline_default_configurations.at(PID).fps;
auto actual_fps = float( pipeline_default_configurations.at(PID).fps );

while (frames.size() < 100)
{
Expand All @@ -2970,7 +2970,7 @@ TEST_CASE("Pipeline wait_for_frames", "[live][pipeline][using_pipeline][!mayfail
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS));
auto val = f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
Expand Down Expand Up @@ -3024,7 +3024,7 @@ TEST_CASE("Pipeline poll_for_frames", "[live][pipeline][using_pipeline][!mayfail
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

auto actual_fps = pipeline_default_configurations.at(PID).fps;
auto actual_fps = float( pipeline_default_configurations.at(PID).fps );
while (frames.size() < 100)
{
frameset frame;
Expand All @@ -3036,7 +3036,7 @@ TEST_CASE("Pipeline poll_for_frames", "[live][pipeline][using_pipeline][!mayfail
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS));
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
Expand Down Expand Up @@ -3117,7 +3117,7 @@ TEST_CASE("Pipeline enable stream", "[live][pipeline][using_pipeline]") {
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

auto actual_fps = dev_requests[PID].fps;
auto actual_fps = float( dev_requests[PID].fps );

while (frames.size() < 100)
{
Expand All @@ -3130,7 +3130,7 @@ TEST_CASE("Pipeline enable stream", "[live][pipeline][using_pipeline]") {
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS));
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
Expand Down Expand Up @@ -3211,7 +3211,7 @@ TEST_CASE("Pipeline enable stream auto complete", "[live][pipeline][using_pipeli
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

auto actual_fps = configurations[PID].fps;
auto actual_fps = float( configurations[PID].fps );

while (frames.size() < 100)
{
Expand All @@ -3223,7 +3223,7 @@ TEST_CASE("Pipeline enable stream auto complete", "[live][pipeline][using_pipeli
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS));
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
Expand Down Expand Up @@ -3288,7 +3288,7 @@ TEST_CASE("Pipeline disable_all", "[live][pipeline][using_pipeline][!mayfail]")
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

auto actual_fps = default_configurations[PID].fps;
auto actual_fps = float( default_configurations[PID].fps );

while (frames.size() < 100)
{
Expand All @@ -3300,7 +3300,7 @@ TEST_CASE("Pipeline disable_all", "[live][pipeline][using_pipeline][!mayfail]")
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS));
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
Expand Down Expand Up @@ -3367,7 +3367,7 @@ TEST_CASE("Pipeline disable stream", "[live][pipeline][using_pipeline]") {
for (auto i = 0; i < 30; i++)
REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

auto actual_fps = configurations[PID].fps;
auto actual_fps = float( configurations[PID].fps );
while (frames.size() < 100)
{
frameset frame;
Expand All @@ -3378,7 +3378,7 @@ TEST_CASE("Pipeline disable stream", "[live][pipeline][using_pipeline]") {
{
if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
{
auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS));
auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
if (val < actual_fps)
actual_fps = val;
}
Expand Down

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