libvoxl-cutils camera_image_metadata.h

[KnightHawk]

Hello,

I'm looking for a specific header so that I can access the camera data in my custom driver but I do not see it in https://gitlab.com/voxl-public/voxl-sdk/core-libs/libvoxl-cutils. Where can I find camera_image_metadata.h? Thanks.

// ---------------- Save Camera Feed (if enabled) -----------------
if (camera_pipe_fd != -1 && FD_ISSET(camera_pipe_fd, &rfds)) {
    camera_image_metadata_t meta;
    ssize_t ret = read(camera_pipe_fd, &meta, sizeof(meta));
    if (ret == sizeof(meta)) {
        if (img_buffer.size() < meta.size) {
            img_buffer.resize(meta.size);
        }
        ret = read(camera_pipe_fd, img_buffer.data(), meta.size);
        if (ret == (ssize_t)meta.size) {
            cv::Mat image(meta.height * 3 / 2, meta.width, CV_8UC1, img_buffer.data());

            char filename[128];
            snprintf(filename, sizeof(filename), "/data/img_%s_%lld.jpg", TARGET_CAMERA_NAME.c_str(), (long long)meta.timestamp_ns);
            cv::imwrite(filename, image);
        }
    }
}

[Alex Kushleyev]

@KnightHawk , the definition is in libmodal-pipe library.

https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/include/modal_pipe_interfaces.h?ref_type=heads#L202

Alex