feat(record): add depth RVL recording to MCAP

2026-03-11 21:15:25 +08:00
parent 782af9481c
commit 59ff8b79d9
15 changed files with 826 additions and 35 deletions
@@ -45,6 +45,12 @@ enum class PixelFormat : std::uint8_t {
 	YUYV,
 };

+enum class DepthUnit : std::uint8_t {
+	Unknown = 0,
+	Millimeter = 1,
+	Meter = 2,
+};
+
 enum class ModuleStatus : std::int32_t {
 	Online      = 0xa1,
 	Offline     = 0xa0,
@@ -57,6 +63,7 @@ enum class ParseError {
 	InvalidMagic,
 	UnsupportedVersion,
 	InvalidDepth,
+	InvalidDepthUnit,
 	InvalidPixelFormat,
 	InvalidModuleStatus,
 	PayloadLengthMismatch,
@@ -155,11 +162,23 @@ struct ControlResponseMessage {

 struct ValidatedShmView {
 	FrameMetadata metadata;
+	DepthUnit depth_unit{DepthUnit::Unknown};
 	std::span<const std::uint8_t> payload;
+	std::span<const std::uint8_t> left;
+	std::optional<FrameInfo> depth_info{};
+	std::span<const std::uint8_t> depth{};
+	std::optional<FrameInfo> confidence_info{};
+	std::span<const std::uint8_t> confidence{};
 };

 struct CoherentSnapshot {
 	FrameMetadata metadata;
+	DepthUnit depth_unit{DepthUnit::Unknown};
+	std::span<const std::uint8_t> left;
+	std::optional<FrameInfo> depth_info{};
+	std::span<const std::uint8_t> depth{};
+	std::optional<FrameInfo> confidence_info{};
+	std::span<const std::uint8_t> confidence{};
 	std::size_t bytes_copied;
 };