Stream Endpoint Protocol. More...
#include <t265-messages.h>
Public Attributes | |
| uint8_t | bReserved |
| uint8_t | bSensorID |
| uint32_t | dwFrameId |
| bulk_message_request_header | header |
| uint64_t | llArrivalNanoseconds |
| uint64_t | llNanoseconds |
Stream Endpoint Protocol.
The stream endpoint is a bulk IN / OUT endpoint, used to stream out image streams as raw streams, as enabled in the "Enable Raw Streams" command, Or stream in image and IMU streams, as enabled in the "Enable Playback Streams" command. (IMU outputs are sent over the interrupt endpoint). Streaming streams both out and in at the same time shall be supported (effectively loopback - ing the input streams). The host reads from this endpoint to get new streaming data, and write new samples to playback them. Every sample is made from the common fields from below, with a variable specific metadata and data part (starting at byte 24 below). Bulk raw stream header
Definition at line 1170 of file t265-messages.h.
| uint8_t t265::bulk_message_raw_stream_header::bReserved |
Reserved = 0
Definition at line 1175 of file t265-messages.h.
| uint8_t t265::bulk_message_raw_stream_header::bSensorID |
Bits 0-4: Type of sensor, supported values are: Color = 0, Depth = 1, IR = 2, Fisheye = 3, Gyro = 4, Accelerometer = 5 Bits 5-7: Sensor index - Zero based index of sensor with the same type within device. For example if the device supports two fisheye cameras, The first will use index 0 (bSensorID = 0x03) and the second will use index 1 (bSensorID = 0x23)
Definition at line 1172 of file t265-messages.h.
| uint32_t t265::bulk_message_raw_stream_header::dwFrameId |
A running index of frames from every unique sensor. Starting from 0.
Definition at line 1178 of file t265-messages.h.
| bulk_message_request_header t265::bulk_message_raw_stream_header::header |
Message request header: dwLength = 28 + dwMetadataLength + dwFrameLength bytes, wMessageID = DEV_SAMPLE
Definition at line 1171 of file t265-messages.h.
| uint64_t t265::bulk_message_raw_stream_header::llArrivalNanoseconds |
Frame arrival timestamp, as measured in nanoseconds since device initialization
Definition at line 1177 of file t265-messages.h.
| uint64_t t265::bulk_message_raw_stream_header::llNanoseconds |
Frame integration timestamp, as measured in nanoseconds since device initialization
Definition at line 1176 of file t265-messages.h.