Actual FPS simplification & unit change [API change]

common/output-model.cpp

@@ -1083,12 +1083,12 @@ void frame_drops_dashboard::process_frame(rs2::frame f)
         {
             auto last = stream_to_time[f.get_profile().unique_id()];
 
-            long long fps = f.get_profile().fps();
+            double fps = (double)f.get_profile().fps();
 
-            if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
-                fps = f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS);
+            if( f.supports_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) )
+                fps = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.;
 
-            if (1000.f * (ts - last) > 1.5f * (1000.f / fps)) {
+            if (1000. * (ts - last) > 1.5 * (1000. / fps)) {
                 drops++;
             }
         }

common/stream-model.cpp

@@ -805,7 +805,7 @@ namespace rs2
                                     "Frame Timestamp is normalized represetation of when the frame was taken.\n"
                                     "It's a property of every frame, so when exact creation time is not provided by "
                                     "the hardware, an approximation will be used.\n"
-                                    "Clock Domain feilds helps to interpret the meaning of timestamp\n"
+                                    "Clock Domain fields helps to interpret the meaning of timestamp\n"
                                     "Timestamp is measured in milliseconds, and is allowed to roll-over (reset to "
                                     "zero) in some situations" } );
         stream_details.push_back(
@@ -891,11 +891,12 @@ namespace rs2
               "When AE is set On, the value is controlled by firmware. Integer value" },
             { RS2_FRAME_METADATA_AUTO_EXPOSURE, "Auto Exposure Mode indicator. Zero corresponds to AE switched off. " },
             { RS2_FRAME_METADATA_WHITE_BALANCE, "White Balance setting as a color temperature. Kelvin degrees" },
-            { RS2_FRAME_METADATA_TIME_OF_ARRIVAL, "Time of arrival in system clock " },
+            { RS2_FRAME_METADATA_TIME_OF_ARRIVAL, "Time of arrival in system clock" },
             { RS2_FRAME_METADATA_TEMPERATURE,
               "Temperature of the device, measured at the time of the frame capture. Celsius degrees " },
             { RS2_FRAME_METADATA_BACKEND_TIMESTAMP, "Timestamp get from uvc driver. usec" },
-            { RS2_FRAME_METADATA_ACTUAL_FPS, "Actual hardware FPS. May differ from requested due to Auto-Exposure" },
+            { RS2_FRAME_METADATA_ACTUAL_FPS, "Hardware FPS * 1000 =\n"
+              "1000000 * (frame-number - prev-frame-number) / (timestamp - prev-timestamp)" },
             { RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE,
               "Laser power mode. Zero corresponds to Laser power switched off and one for switched on." },
             { RS2_FRAME_METADATA_EXPOSURE_PRIORITY,
@@ -912,10 +913,10 @@ namespace rs2
             {
                 auto val = (rs2_frame_metadata_value)i;
                 std::string name = rs2_frame_metadata_to_string( val );
-                std::string desc = "";
+                std::string desc;
                 if( descriptions.find( val ) != descriptions.end() )
                     desc = descriptions[val];
-                stream_details.push_back( { name, rsutils::string::from() << kvp.second, desc } );
+                stream_details.push_back( { name, rsutils::string::from( kvp.second ), desc } );
             }
         }
 

doc/frame_metadata.md

@@ -87,7 +87,7 @@ GAIN_LEVEL|16
 AUTO_EXPOSURE|1  
 TIME_OF_ARRIVAL|1523871918775
 BACKEND_TIMESTAMP|1523871918741
-ACTUAL_FPS|30
+ACTUAL_FPS|30000
 
  - `rs-config-ui` includes a checkbox in the upper-right corner of  stream's canvas, clicking on which will bring up an overlay window with the metadata attributes available.  
 

include/librealsense2/h/rs_frame.h

@@ -39,7 +39,7 @@ typedef enum rs2_frame_metadata_value
     RS2_FRAME_METADATA_TIME_OF_ARRIVAL                      , /**< Time of arrival in system clock */
     RS2_FRAME_METADATA_TEMPERATURE                          , /**< Temperature of the device, measured at the time of the frame capture. Celsius degrees */
     RS2_FRAME_METADATA_BACKEND_TIMESTAMP                    , /**< Timestamp get from uvc driver. usec*/
-    RS2_FRAME_METADATA_ACTUAL_FPS                           , /**< Actual fps */
+    RS2_FRAME_METADATA_ACTUAL_FPS                           , /**< Actual fps, times 1000 (30.1 fps would be 30100 in the metadata) */
     RS2_FRAME_METADATA_FRAME_LASER_POWER                    , /**< Laser power value 0-360. */
     RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE               , /**< Laser power mode. Zero corresponds to Laser power switched off and one for switched on. deprecated, replaced by RS2_FRAME_METADATA_FRAME_EMITTER_MODE*/
     RS2_FRAME_METADATA_EXPOSURE_PRIORITY                    , /**< Exposure priority. */

src/algo.cpp

@@ -80,10 +80,14 @@ auto_exposure_mechanism::auto_exposure_mechanism(option& gain_option, option& ex
 
                 double values[2] = {};
 
-                values[0] = frame->supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_EXPOSURE) ?
-                            static_cast<double>(frame->get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_EXPOSURE)) : _exposure_option.query();
-                values[1] = frame->supports_frame_metadata(RS2_FRAME_METADATA_GAIN_LEVEL) ?
-                            static_cast<double>(frame->get_frame_metadata(RS2_FRAME_METADATA_GAIN_LEVEL)) : _gain_option.query();
+                rs2_metadata_type actual_exposure_md;
+                values[0] = frame->find_metadata( RS2_FRAME_METADATA_ACTUAL_EXPOSURE, &actual_exposure_md )
+                              ? static_cast< double >( actual_exposure_md )
+                              : _exposure_option.query();
+                rs2_metadata_type gain_level_md;
+                values[1] = frame->find_metadata( RS2_FRAME_METADATA_GAIN_LEVEL, &gain_level_md )
+                              ? static_cast< double >( gain_level_md )
+                              : _gain_option.query();
 
                 values[0] /= 1000.; // Fisheye exposure value by extension control-
                                     // is in units of MicroSeconds, from FW version 5.6.3.0

src/composite-frame.h

@@ -39,13 +39,9 @@ class composite_frame : public frame
     // In the next section we make the composite frame "look and feel" like the first of its
     // children
     frame_header const & get_header() const override { return first()->get_header(); }
-    rs2_metadata_type get_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const override
+    bool find_metadata( rs2_frame_metadata_value frame_metadata, rs2_metadata_type * p_output_value ) const override
     {
-        return first()->get_frame_metadata( frame_metadata );
-    }
-    bool supports_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const override
-    {
-        return first()->supports_frame_metadata( frame_metadata );
+        return first()->find_metadata( frame_metadata, p_output_value );
     }
     int get_frame_data_size() const override { return first()->get_frame_data_size(); }
     const uint8_t * get_frame_data() const override { return first()->get_frame_data(); }

src/core/frame-interface.h

@@ -21,8 +21,8 @@ class frame_interface
 {
 public:
     virtual frame_header const & get_header() const = 0;
-    virtual rs2_metadata_type get_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const = 0;
-    virtual bool supports_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const = 0;
+
+    virtual bool find_metadata( rs2_frame_metadata_value, rs2_metadata_type * p_output_value ) const = 0;
     virtual int get_frame_data_size() const = 0;
     virtual const uint8_t * get_frame_data() const = 0;
     virtual rs2_time_t get_frame_timestamp() const = 0;
@@ -31,7 +31,7 @@ class frame_interface
     virtual unsigned long long get_frame_number() const = 0;
 
     virtual void set_timestamp_domain( rs2_timestamp_domain timestamp_domain ) = 0;
-    virtual rs2_time_t get_frame_system_time() const = 0;
+    virtual rs2_time_t get_frame_system_time() const = 0;  // TIME_OF_ARRIVAL
     virtual std::shared_ptr< stream_profile_interface > get_stream() const = 0;
     virtual void set_stream( std::shared_ptr< stream_profile_interface > sp ) = 0;
 

src/ds/d400/d400-auto-calibration.cpp

@@ -1270,13 +1270,16 @@ namespace librealsense
     {
         try
         {
+            auto fi = (frame_interface *)f;
             std::vector<uint8_t> res;
-            rs2_metadata_type frame_counter = ((frame_interface*)f)->get_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER);
-            rs2_metadata_type frame_ts = ((frame_interface*)f)->get_frame_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP);
+            rs2_metadata_type frame_counter;
+            if( ! fi->find_metadata( RS2_FRAME_METADATA_FRAME_COUNTER, &frame_counter ) )
+                throw invalid_value_exception( "missing FRAME_COUNTER" );
+            rs2_metadata_type frame_ts;
+            if( ! fi->find_metadata( RS2_FRAME_METADATA_FRAME_TIMESTAMP, &frame_ts ) )
+                throw invalid_value_exception( "missing FRAME_TIMESTAMP" );
             bool tare_fc_workaround = (_action == auto_calib_action::RS2_OCC_ACTION_TARE_CALIB); //Tare calib shall use rolling frame counter
-            bool mipi_sku = ((frame_interface*)f)->supports_frame_metadata(RS2_FRAME_METADATA_CALIB_INFO);
-            if (mipi_sku)
-                frame_counter = ((frame_interface*)f)->get_frame_metadata(RS2_FRAME_METADATA_CALIB_INFO);
+            bool mipi_sku = fi->find_metadata( RS2_FRAME_METADATA_CALIB_INFO, &frame_counter );
 
             if (_interactive_state == interactive_calibration_state::RS2_OCC_STATE_WAIT_TO_CAMERA_START)
             {

src/ds/d400/d400-factory.cpp

@@ -1345,7 +1345,7 @@ namespace librealsense
         std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
         std::vector<stream_interface*> mm_streams = { _accel_stream.get(), _gyro_stream.get()};
         streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
-        if (frame.frame->supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER))
+        if( frame.frame->find_metadata( RS2_FRAME_METADATA_FRAME_COUNTER, nullptr ) )
         {
             return matcher_factory::create(RS2_MATCHER_DLR_C, streams);
         }

src/ds/ds-color-common.cpp

@@ -77,8 +77,7 @@ namespace librealsense
     void ds_color_common::register_metadata()
     {
         _color_ep.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp));
-        _color_ep.register_metadata(RS2_FRAME_METADATA_ACTUAL_FPS, std::make_shared<ds_md_attribute_actual_fps>(false, [](const rs2_metadata_type& param)
-            {return param * 100; })); //the units of the exposure of the RGB sensor are 100 microseconds so the md_attribute_actual_fps need the lambda to convert it to microseconds
+        _color_ep.register_metadata(RS2_FRAME_METADATA_ACTUAL_FPS, std::make_shared<ds_md_attribute_actual_fps>());
 
         // attributes of md_capture_timing
         auto md_prop_offset = offsetof(metadata_raw, mode) +

src/frame.cpp

@@ -133,62 +133,18 @@ frame_interface * frame::publish( std::shared_ptr< archive_interface > new_owner
     return owner->publish_frame( this );
 }
 
-rs2_metadata_type frame::get_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const
+bool frame::find_metadata( rs2_frame_metadata_value frame_metadata, rs2_metadata_type * p_value ) const
 {
     if( ! metadata_parsers )
-        throw invalid_value_exception( rsutils::string::from()
-                                       << "metadata not available for " << get_string( get_stream()->get_stream_type() )
-                                       << " stream" );
-
+        return false;
     auto parsers = metadata_parsers->equal_range( frame_metadata );
-    if( parsers.first
-        == metadata_parsers
-               ->end() )  // Possible user error - md attribute is not supported by this frame type
-        throw invalid_value_exception( rsutils::string::from()
-                                       << get_string( frame_metadata ) << " attribute is not applicable for "
-                                       << get_string( get_stream()->get_stream_type() ) << " stream " );
-
-    rs2_metadata_type result = -1;
+
     bool value_retrieved = false;
-    std::string exc_str;
     for( auto it = parsers.first; it != parsers.second; ++it )
-    {
-        try
-        {
-            result = it->second->get( *this );
+        if( it->second->find( *this, p_value ) )
             value_retrieved = true;
-            break;
-        }
-        catch( invalid_value_exception & e )
-        {
-            exc_str = e.what();
-        }
-    }
-    if( ! value_retrieved )
-        throw invalid_value_exception( exc_str );
 
-    return result;
-}
-
-bool frame::supports_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const
-{
-    // verify preconditions
-    if( ! metadata_parsers )
-        return false;  // No parsers are available or no metadata was attached
-
-    bool ret = false;
-    auto found = metadata_parsers->equal_range( frame_metadata );
-    if( found.first == metadata_parsers->end() )
-        return false;
-
-    for( auto it = found.first; it != found.second; ++it )
-        if( it->second->supports( *this ) )
-        {
-            ret = true;
-            break;
-        }
-
-    return ret;
+    return value_retrieved;
 }
 
 int frame::get_frame_data_size() const
@@ -223,6 +179,18 @@ unsigned long long frame::get_frame_number() const
     return additional_data.frame_number;
 }
 
+double frame::calc_actual_fps() const
+{
+    auto const dt = ( additional_data.timestamp - additional_data.last_timestamp );
+    if( dt > 0. && additional_data.frame_number > additional_data.last_frame_number )
+    {
+        auto const n_frames = additional_data.frame_number - additional_data.last_frame_number;
+        return 1000. * n_frames / dt;
+    }
+
+    return 0.;  // Unknown actual FPS
+}
+
 rs2_time_t frame::get_frame_system_time() const
 {
     return additional_data.system_time;

src/frame.h

@@ -38,8 +38,7 @@ class LRS_EXTENSION_API frame : public frame_interface
 
     virtual ~frame() { on_release.reset(); }
     frame_header const & get_header() const override { return additional_data; }
-    rs2_metadata_type get_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const override;
-    bool supports_frame_metadata( const rs2_frame_metadata_value & frame_metadata ) const override;
+    bool find_metadata( rs2_frame_metadata_value, rs2_metadata_type * p_output_value ) const override;
     int get_frame_data_size() const override;
     const uint8_t * get_frame_data() const override;
     rs2_time_t get_frame_timestamp() const override;
@@ -51,6 +50,9 @@ class LRS_EXTENSION_API frame : public frame_interface
         additional_data.timestamp_domain = timestamp_domain;
     }
 
+    // Return FPS calculated as (1000*d_frames/d_timestamp), or 0 if this cannot be estimated
+    double calc_actual_fps() const;
+
     rs2_time_t get_frame_system_time() const override;
 
     std::shared_ptr< stream_profile_interface > get_stream() const override { return stream; }

src/hid-sensor.cpp

@@ -221,6 +221,9 @@ void hid_sensor::start( frame_callback_ptr callback )
                                         << rs2_timestamp_domain_to_string( timestamp_domain ) << ",last_frame_number,"
                                         << last_frame_number << ",last_timestamp," << last_timestamp );
 
+            if( frame_counter <= last_frame_number )
+                LOG_INFO( "Frame counter reset" );
+
             last_frame_number = frame_counter;
             last_timestamp = timestamp;
             frame_holder frame

src/media/ros/ros_writer.cpp

@@ -106,9 +106,9 @@ namespace librealsense
         for (int i = 0; i < static_cast<rs2_frame_metadata_value>(rs2_frame_metadata_value::RS2_FRAME_METADATA_COUNT); i++)
         {
             rs2_frame_metadata_value type = static_cast<rs2_frame_metadata_value>(i);
-            if (frame->supports_frame_metadata(type))
+            rs2_metadata_type md;
+            if (frame->find_metadata(type, &md))
             {
-                auto md = frame->get_frame_metadata(type);
                 diagnostic_msgs::KeyValue md_msg;
                 md_msg.key = librealsense::get_string(type);
                 md_msg.value = std::to_string(md);