{Feature} add cameraId to ImageDataRecord

Summary: add cameraId to ImageDataRecord to allow output image data from data provider to contain information of which camera it came from. Reviewed By: seanwarren-meta, SeaOtocinclus Differential Revision: D48122194 fbshipit-source-id: ce979d6e44127c320047460da70239ea8a0e69d5
facebookresearch · Aug 10, 2023 · f301006 · f301006
1 parent bde7de5
commit f301006
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diff --git a/core/data_provider/players/ImageSensorPlayer.cpp b/core/data_provider/players/ImageSensorPlayer.cpp
@@ -83,6 +83,7 @@ bool ImageSensorPlayer::onDataLayoutRead(
     configRecord_.description = config.description.get();
   } else if (r.recordType == vrs::Record::Type::DATA) {
     auto& data = getExpectedLayout<datalayout::ImageSensorDataRecordMetadata>(dl, blockIndex);
+    dataRecord_.cameraId = configRecord_.cameraId;
     dataRecord_.groupId = data.groupId.get();
     dataRecord_.groupMask = data.groupMask.get();
     dataRecord_.frameNumber = data.frameNumber.get();

diff --git a/core/data_provider/players/ImageSensorPlayer.h b/core/data_provider/players/ImageSensorPlayer.h
@@ -80,6 +80,7 @@ struct ImageConfigRecord {
  * @brief Image data type: meta data
  */
 struct ImageDataRecord {
+  uint32_t cameraId; ///< @brief ID of the camera, 0 to N
   uint64_t groupId;
   uint64_t groupMask;
   uint64_t frameNumber; ///< @brief index of the frame

diff --git a/core/python/SensorDataPyBind.h b/core/python/SensorDataPyBind.h
@@ -182,6 +182,7 @@ inline void declareImageDataRecord(py::module& m) {
       .def_readwrite("description", &ImageConfigRecord::description);
   py::class_<ImageDataRecord>(m, "ImageDataRecord")
       .def(py::init<>())
+      .def_readwrite("camera_id", &ImageDataRecord::cameraId, "ID of the camera, 0 to N")
       .def_readwrite("group_id", &ImageDataRecord::groupId)
       .def_readwrite("group_mask", &ImageDataRecord::groupMask)
       .def_readwrite("frame_number", &ImageDataRecord::frameNumber, "index of the frame")