253 lines
7.3 KiB
ReStructuredText
253 lines
7.3 KiB
ReStructuredText
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.. SPDX-License-Identifier: GFDL-1.1-no-invariants-or-later
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.. _v4l2-meta-fmt-d4xx:
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*******************************
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V4L2_META_FMT_D4XX ('D4XX')
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*******************************
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Intel D4xx UVC Cameras Metadata
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Description
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===========
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Intel D4xx (D435, D455 and others) cameras include per-frame metadata in their UVC
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payload headers, following the Microsoft(R) UVC extension proposal [1_]. That
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means, that the private D4XX metadata, following the standard UVC header, is
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organised in blocks. D4XX cameras implement several standard block types,
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proposed by Microsoft, and several proprietary ones. Supported standard metadata
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types are MetadataId_CaptureStats (ID 3), MetadataId_CameraExtrinsics (ID 4),
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and MetadataId_CameraIntrinsics (ID 5). For their description see [1_]. This
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document describes proprietary metadata types, used by D4xx cameras.
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V4L2_META_FMT_D4XX buffers follow the metadata buffer layout of
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V4L2_META_FMT_UVC with the only difference, that it also includes proprietary
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payload header data. D4xx cameras use bulk transfers and only send one payload
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per frame, therefore their headers cannot be larger than 255 bytes.
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This document implements Intel Configuration version 3 [9_].
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Below are proprietary Microsoft style metadata types, used by D4xx cameras,
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where all fields are in little endian order:
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.. tabularcolumns:: |p{5.0cm}|p{12.5cm}|
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.. flat-table:: D4xx metadata
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:widths: 1 2
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:header-rows: 1
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:stub-columns: 0
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* - **Field**
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- **Description**
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* - :cspan:`1` *Depth Control*
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* - __u32 ID
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- 0x80000000
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* - __u32 Size
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- Size in bytes, include ID (all protocol versions: 60)
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* - __u32 Version
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- Version of this structure. The documentation herein covers versions 1,
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2 and 3. The version number will be incremented when new fields are
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added.
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* - __u32 Flags
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- A bitmask of flags: see [2_] below
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* - __u32 Gain
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- Gain value in internal units, same as the V4L2_CID_GAIN control, used to
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capture the frame
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* - __u32 Exposure
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- Exposure time (in microseconds) used to capture the frame
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* - __u32 Laser power
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- Power of the laser LED 0-360, used for depth measurement
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* - __u32 AE mode
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- 0: manual; 1: automatic exposure
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* - __u32 Exposure priority
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- Exposure priority value: 0 - constant frame rate
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* - __u32 AE ROI left
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- Left border of the AE Region of Interest (all ROI values are in pixels
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and lie between 0 and maximum width or height respectively)
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* - __u32 AE ROI right
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- Right border of the AE Region of Interest
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* - __u32 AE ROI top
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- Top border of the AE Region of Interest
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* - __u32 AE ROI bottom
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- Bottom border of the AE Region of Interest
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* - __u32 Preset
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- Preset selector value, default: 0, unless changed by the user
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* - __u8 Emitter mode (v3 only) (__u32 Laser mode for v1) [8_]
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- 0: off, 1: on, same as __u32 Laser mode for v1
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* - __u8 RFU byte (v3 only)
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- Spare byte for future use
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* - __u16 LED Power (v3 only)
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- Led power value 0-360 (F416 SKU)
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* - :cspan:`1` *Capture Timing*
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* - __u32 ID
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- 0x80000001
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* - __u32 Size
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- Size in bytes, include ID (all protocol versions: 40)
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* - __u32 Version
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- Version of this structure. The documentation herein corresponds to
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version xxx. The version number will be incremented when new fields are
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added.
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* - __u32 Flags
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- A bitmask of flags: see [3_] below
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* - __u32 Frame counter
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- Monotonically increasing counter
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* - __u32 Optical time
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- Time in microseconds from the beginning of a frame till its middle
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* - __u32 Readout time
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- Time, used to read out a frame in microseconds
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* - __u32 Exposure time
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- Frame exposure time in microseconds
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* - __u32 Frame interval
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- In microseconds = 1000000 / framerate
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* - __u32 Pipe latency
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- Time in microseconds from start of frame to data in USB buffer
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* - :cspan:`1` *Configuration*
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* - __u32 ID
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- 0x80000002
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* - __u32 Size
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- Size in bytes, include ID (v1:36, v3:40)
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* - __u32 Version
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- Version of this structure. The documentation herein corresponds to
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version xxx. The version number will be incremented when new fields are
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added.
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* - __u32 Flags
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- A bitmask of flags: see [4_] below
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* - __u8 Hardware type
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- Camera hardware version [5_]
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* - __u8 SKU ID
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- Camera hardware configuration [6_]
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* - __u32 Cookie
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- Internal synchronisation
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* - __u16 Format
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- Image format code [7_]
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* - __u16 Width
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- Width in pixels
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* - __u16 Height
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- Height in pixels
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* - __u16 Framerate
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- Requested frame rate per second
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* - __u16 Trigger
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- Byte 0: bit 0: depth and RGB are synchronised, bit 1: external trigger
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* - __u16 Calibration count (v3 only)
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- Calibration counter, see [4_] below
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* - __u8 GPIO input data (v3 only)
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- GPIO readout, see [4_] below (Supported from FW 5.12.7.0)
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* - __u32 Sub-preset info (v3 only)
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- Sub-preset choice information, see [4_] below
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* - __u8 reserved (v3 only)
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- RFU byte.
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.. _1:
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[1] https://docs.microsoft.com/en-us/windows-hardware/drivers/stream/uvc-extensions-1-5
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.. _2:
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[2] Depth Control flags specify which fields are valid: ::
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0x00000001 Gain
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0x00000002 Exposure
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0x00000004 Laser power
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0x00000008 AE mode
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0x00000010 Exposure priority
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0x00000020 AE ROI
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0x00000040 Preset
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0x00000080 Emitter mode
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0x00000100 LED Power
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.. _3:
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[3] Capture Timing flags specify which fields are valid: ::
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0x00000001 Frame counter
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0x00000002 Optical time
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0x00000004 Readout time
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0x00000008 Exposure time
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0x00000010 Frame interval
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0x00000020 Pipe latency
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.. _4:
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[4] Configuration flags specify which fields are valid: ::
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0x00000001 Hardware type
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0x00000002 SKU ID
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0x00000004 Cookie
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0x00000008 Format
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0x00000010 Width
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0x00000020 Height
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0x00000040 Framerate
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0x00000080 Trigger
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0x00000100 Cal count
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0x00000200 GPIO Input Data
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0x00000400 Sub-preset Info
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.. _5:
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[5] Camera model: ::
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0 DS5
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1 IVCAM2
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.. _6:
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[6] 8-bit camera hardware configuration bitfield: ::
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[1:0] depthCamera
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00: no depth
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01: standard depth
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10: wide depth
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11: reserved
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[2] depthIsActive - has a laser projector
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[3] RGB presence
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[4] Inertial Measurement Unit (IMU) presence
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[5] projectorType
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0: HPTG
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1: Princeton
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[6] 0: a projector, 1: an LED
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[7] reserved
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.. _7:
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[7] Image format codes per video streaming interface:
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Depth: ::
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1 Z16
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2 Z
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Left sensor: ::
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1 Y8
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2 UYVY
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3 R8L8
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4 Calibration
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5 W10
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Fish Eye sensor: ::
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1 RAW8
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.. _8:
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[8] The "Laser mode" has been replaced in version 3 by three different fields.
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"Laser" has been renamed to "Emitter" as there are multiple technologies for
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camera projectors. As we have another field for "Laser Power" we introduced
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"LED Power" for extra emitter.
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The "Laser mode" __u32 fiels has been split into: ::
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1 __u8 Emitter mode
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2 __u8 RFU byte
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3 __u16 LED Power
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This is a change between versions 1 and 3. All versions 1, 2 and 3 are backward
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compatible with the same data format and they are supported. See [2_] for which
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attributes are valid.
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.. _9:
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[9] LibRealSense SDK metadata source:
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https://github.com/IntelRealSense/librealsense/blob/master/src/metadata.h
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