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RSDK-8829: Add frame_rate to cpp sdk #294

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merged 4 commits into from
Sep 24, 2024
Merged

RSDK-8829: Add frame_rate to cpp sdk #294

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a35cb27
some cpp changes
jckras Sep 18, 2024
8b26ea5
more cpp changes
jckras Sep 18, 2024
0aaff1f
cpp changes working
jckras Sep 19, 2024
75091c3
clang format changes
jckras Sep 20, 2024
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6 changes: 4 additions & 2 deletions src/viam/sdk/components/camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -231,7 +231,8 @@ Camera::properties Camera::from_proto(
return {proto.supports_pcd(),
from_proto(proto.intrinsic_parameters()),
from_proto(proto.distortion_parameters()),
{proto.mime_types().begin(), proto.mime_types().end()}};
{proto.mime_types().begin(), proto.mime_types().end()},
(proto.frame_rate())};
}

viam::component::camera::v1::IntrinsicParameters Camera::to_proto(
Expand Down Expand Up @@ -282,7 +283,8 @@ bool operator==(const Camera::distortion_parameters& lhs,
bool operator==(const Camera::properties& lhs, const Camera::properties& rhs) {
return lhs.supports_pcd == rhs.supports_pcd &&
lhs.intrinsic_parameters == rhs.intrinsic_parameters &&
lhs.distortion_parameters == rhs.distortion_parameters;
lhs.distortion_parameters == rhs.distortion_parameters &&
lhs.frame_rate == rhs.frame_rate;
}

} // namespace sdk
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3 changes: 3 additions & 0 deletions src/viam/sdk/components/camera.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,9 @@ class Camera : public Component {

/// @brief Contains the mime types the camera supports.
Camera::mime_types mime_types;

/// @brief Contains the camera's frame rate.
float frame_rate;
};

/// @struct point_cloud
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1 change: 1 addition & 0 deletions src/viam/sdk/components/private/camera_server.cpp
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Expand Up @@ -114,6 +114,7 @@ ::grpc::Status CameraServer::GetProperties(
*response->mutable_intrinsic_parameters() =
Camera::to_proto(properties.intrinsic_parameters);
response->set_supports_pcd(properties.supports_pcd);
response->set_frame_rate(properties.frame_rate);
});
}

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1 change: 1 addition & 0 deletions src/viam/sdk/tests/mocks/camera_mocks.cpp
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Expand Up @@ -96,6 +96,7 @@ Camera::properties fake_properties() {
properties.intrinsic_parameters = fake_intrinsic_parameters();
properties.distortion_parameters = fake_distortion_parameters();
properties.mime_types = fake_mime_types();
properties.frame_rate = 10.0;
return properties;
}

Expand Down