Added k4a_image_get/set_system_timestamp_nsec

.gitmodules

@@ -35,3 +35,7 @@
 [submodule "extern/libusb/src"]
 	path = extern/libusb/src
 	url = https://github.com/libusb/libusb
+[submodule "extern/libuvc/src"]
+	path = extern/libuvc/src
+	url = https://github.com/wes-b/libuvc.git
+	branch = Azure-Kinect-Sensor-SDK

CHANGELOG.md

@@ -1,5 +1,11 @@
 ## Change Log
 
+### v1.2.0
+
+* Added new API's k4a_image_get_device_timestamp_usec(), k4a_image_get_system_timestamp_usec(), 
+k4a_image_set_device_timestamp_usec(), k4a_image_set_system_timestamp_usec(), and k4a_image_set_exposure_usec().
+* Deprecated API's k4a_image_get_timestamp_usec(), k4a_image_set_timestamp_usec(), and k4a_image_set_exposure_time_usec().
+
 ### v1.1.0
 
 * Clean up repo documentation for going public.

examples/playback_external_sync/main.c

@@ -26,7 +26,7 @@ static uint64_t first_capture_timestamp(k4a_capture_t capture)
     {
         if (images[i] != NULL)
         {
-            uint64_t timestamp = k4a_image_get_timestamp_usec(images[i]);
+            uint64_t timestamp = k4a_image_get_device_timestamp_usec(images[i]);
             if (timestamp < min_timestamp)
             {
                 min_timestamp = timestamp;
@@ -51,7 +51,7 @@ static void print_capture_info(recording_t *file)
     {
         if (images[i] != NULL)
         {
-            uint64_t timestamp = k4a_image_get_timestamp_usec(images[i]) +
+            uint64_t timestamp = k4a_image_get_device_timestamp_usec(images[i]) +
                                  (uint64_t)file->record_config.start_timestamp_offset_usec;
             printf("  %7ju usec", timestamp);
             k4a_image_release(images[i]);

extern/CMakeLists.txt

@@ -54,8 +54,8 @@ add_subdirectory(libjpeg-turbo)
 add_subdirectory(libmatroska)
 add_subdirectory(libsoundio)
 add_subdirectory(libyuv)
-add_subdirectory(spdlog)
 add_subdirectory(libuvc)
+add_subdirectory(spdlog)
 if (NOT ${CMAKE_SYSTEM_NAME} STREQUAL "WindowsStore")
     add_subdirectory(libusb)
 endif()

extern/libuvc/CMakeLists.txt

@@ -1,30 +1,14 @@
-if ("${CMAKE_SYSTEM_NAME}" STREQUAL "Linux")
-    if (NOT TARGET project_libuvc)
+if("${CMAKE_SYSTEM_NAME}" STREQUAL "Linux")
+    if (NOT TARGET uvc_static)
         set(CMAKE_BUILD_TARGET Static)
+        add_subdirectory(src EXCLUDE_FROM_ALL)
+    else()
+        message(STATUS "uvc_static is already a target. Skipping adding it twice")
+    endif()
 
-        include(ExternalProject)
-        ExternalProject_Add(project_libuvc
-            GIT_REPOSITORY    https://github.com/ktossell/libuvc.git
-            GIT_TAG           "v0.0.6"
-            PREFIX            "${CMAKE_CURRENT_BINARY_DIR}"
-            BUILD_BYPRODUCTS  ${CMAKE_CURRENT_BINARY_DIR}/lib/${CMAKE_LIBRARY_ARCHITECTURE}/libuvc.a
-            CMAKE_ARGS        -DCMAKE_BUILD_TARGET=Static -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR} -DCMAKE_LIBRARY_ARCHITECTURE=${CMAKE_LIBRARY_ARCHITECTURE} -DCMAKE_POSITION_INDEPENDENT_CODE=TRUE
-            PATCH_COMMAND     patch -s -N -p3 < ${CMAKE_CURRENT_SOURCE_DIR}/libuvc_metadata.patch || True
-        )
-
-        ExternalProject_Get_Property(project_libuvc install_dir)
-
-        file(MAKE_DIRECTORY ${install_dir}/include)
+    add_library(libuvc::libuvc ALIAS uvc_static)
+    target_include_directories(uvc_static PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/src/include>")
+    target_include_directories(uvc_static PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/src/include>")
 
-        add_library(libuvc::libuvc STATIC IMPORTED GLOBAL)
-        add_dependencies(libuvc::libuvc
-            project_libuvc
-            LibUSB::LibUSB)
-        set_target_properties(libuvc::libuvc PROPERTIES
-            INTERFACE_INCLUDE_DIRECTORIES ${install_dir}/include
-            IMPORTED_LOCATION ${install_dir}/lib/${CMAKE_LIBRARY_ARCHITECTURE}/libuvc.a)
+endif()
 
-    else()
-        message(STATUS "libuvc is already a target. Skipping adding it twice")
-    endif()
-endif()