Make image timestamps consistent (#171)

Metrilus · Dec 3, 2018 · 40089a0 · 40089a0
1 parent c388c1f
commit 40089a0
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Showing 5 changed files with 8 additions and 31 deletions.
diff --git a/BetaCameras/Kinect2/Kinect2.cs b/BetaCameras/Kinect2/Kinect2.cs
@@ -722,8 +722,6 @@ protected virtual FloatCameraImage CalcDistances()
                         img[y, x] = depthFrameData[idx] * distanceMap[y, depthWidthMinusOne - x] * 0.001f;
                     }
                 }
-
-                img.TimeStamp = timestampDepth;
             }            
             return img;
         }
@@ -745,9 +743,7 @@ protected virtual unsafe ColorCameraImage CalcColor()
                 bmp.UnlockBits(bData);
                 bmp.RotateFlip(RotateFlipType.RotateNoneFlipX); //Kinect images are flipped in x-direction
 
-                ColorCameraImage img = new ColorCameraImage(bmp);
-                img.TimeStamp = timestampColor;
-                return img;
+                return new ColorCameraImage(bmp);
             }
         }
 
@@ -766,8 +762,6 @@ protected virtual FloatCameraImage CalcAmplitudes()
                         img[y, x] = (float)this.irFrameData[idx];
                     }
                 }
-
-                img.TimeStamp = timestampIR;
             }
             return img;
         }
@@ -870,8 +864,6 @@ private Point3fCameraImage Calc3DCoordinates()
                         img[y, x] = new Point3f(worldPoints[idx].X * -1, worldPoints[idx].Y * -1, worldPoints[idx].Z);
                     }
                 }
-
-                img.TimeStamp = timestampDepth;
             }
             return img;
         }

diff --git a/BetaCameras/RealSense2/RealSense2.cs b/BetaCameras/RealSense2/RealSense2.cs
@@ -2004,7 +2004,6 @@ unsafe private FloatCameraImage CalcZImage()
             int width = _currentDepthFrame.Width;
 
             FloatCameraImage depthData = new FloatCameraImage(width, height);
-            depthData.TimeStamp = _currentFrameTimestamp;
             short* source = (short*)_currentDepthFrame.Data;
 
             for (int y = 0; y < height; y++)
@@ -2033,7 +2032,6 @@ unsafe private FloatCameraImage CalcIRImage(VideoFrame frame)
             int width = frame.Width;
 
             FloatCameraImage IRData = new FloatCameraImage(width, height);
-            IRData.TimeStamp = _currentFrameTimestamp;
             byte* source = (byte*)frame.Data;
 
             for (int y = 0; y < height; y++)
@@ -2072,10 +2070,7 @@ unsafe private ColorCameraImage CalcColor()
             }
 
             bitmap.UnlockBits(bmpData);
-            ColorCameraImage image = new ColorCameraImage(bitmap);
-            image.TimeStamp = _currentFrameTimestamp;
-
-            return image;
+            return new ColorCameraImage(bitmap);
         }
 
         #endregion

diff --git a/BetaCameras/Sick.TiM561/TiM561.cs b/BetaCameras/Sick.TiM561/TiM561.cs
@@ -292,7 +292,6 @@ private FloatCameraImage CalcDistance()
             {
                 ChannelName = _channelName,
                 FrameNumber = _scanCounter,
-                TimeStamp = _timeStamp
             };
 
             for (int x = 0; x < _radii.Length; ++x)
@@ -323,7 +322,6 @@ private Point3fCameraImage CalcPoint3DImage()
             {
                 ChannelName = _channelName,
                 FrameNumber = _scanCounter,
-                TimeStamp = _timeStamp
             };
 
             for (int x = 0; x < _radii.Length; ++x)

diff --git a/BetaCameras/Sick.VisionaryT/VisionaryT.cs b/BetaCameras/Sick.VisionaryT/VisionaryT.cs
@@ -326,7 +326,6 @@ private FloatCameraImage CalcIntensity()
             lock (_frontLock)
             {
                 result = new FloatCameraImage(_frontFrameData.Width, _frontFrameData.Height);
-                result.TimeStamp = (long)_frontFrameData.TimeStamp;
                 int start = _frontFrameData.IntensityStartOffset;
                 for (int i = 0; i < _frontFrameData.Height; ++i)
                 {
@@ -353,7 +352,6 @@ private FloatCameraImage CalcDistance()
             lock (_frontLock)
             {
                 result = new FloatCameraImage(_frontFrameData.Width, _frontFrameData.Height);
-                result.TimeStamp = (long)_frontFrameData.TimeStamp;
                 int start = _frontFrameData.DistanceStartOffset;
                 for (int i = 0; i < _frontFrameData.Height; ++i)
                 {
@@ -379,7 +377,6 @@ private UShortCameraImage CalcRawConfidenceMap()
             lock (_frontLock)
             {
                 result = new UShortCameraImage(_frontFrameData.Width, _frontFrameData.Height);
-                result.TimeStamp = (long)_frontFrameData.TimeStamp;
                 int start = _frontFrameData.ConfidenceStartOffset;
                 for (int i = 0; i < _frontFrameData.Height; ++i)
                 {
@@ -428,7 +425,6 @@ private Point3fCameraImage Calc3D()
             lock (_frontLock)
             {
                 result = new Point3fCameraImage(_frontFrameData.Width, _frontFrameData.Height);
-                result.TimeStamp = (long)_frontFrameData.TimeStamp;
 
                 float cx = _frontFrameData.CX;
                 float cy = _frontFrameData.CY;

diff --git a/MetriCam2/Camera.cs b/MetriCam2/Camera.cs
@@ -1124,7 +1124,7 @@ private ParamDesc<long> TimeStampDesc
         /// By default the TimeStamp is set to DateTime.UtcNow.Ticks at the beginning of <see cref="Update"/>.
         /// Individual cameras may override this behaviour and e.g. use a timestamp delivered by the camera itself.
         /// </remarks>
-        public long TimeStamp { get; protected set; }
+        public long TimeStamp { get; private set; }
 
 #if !NETSTANDARD2_0
         /// <summary>
@@ -1212,8 +1212,8 @@ public void Connect()
                 throw ExceptionBuilder.Build(typeof(InvalidOperationException), Name, "error_connectionFailed");
             }
 
-            this.FrameNumber = -1;
-            this.TimeStamp = -1;
+            FrameNumber = -1;
+            TimeStamp = -1;
 
             if (OnConnecting != null)
             {
@@ -1318,9 +1318,8 @@ public void Update()
             {
                 this.hasUpdateBeenCalled = true;
                 this.FrameNumber++;
-                this.TimeStamp = DateTime.UtcNow.Ticks;
-
                 UpdateImpl();
+                this.TimeStamp = DateTime.UtcNow.Ticks;
             }
         }
 
@@ -1587,12 +1586,9 @@ public CameraImage CalcChannel(string channelName)
             {
                 if (img.FrameNumber < 1)
                 {
-                    img.FrameNumber = this.FrameNumber;
-                }
-                if (img.TimeStamp < 1)
-                {
-                    img.TimeStamp = this.TimeStamp;
+                    img.FrameNumber = FrameNumber;
                 }
+                img.TimeStamp = TimeStamp;
                 if (string.IsNullOrWhiteSpace(img.ChannelName))
                 {
                     img.ChannelName = channelName;