Pass timestamps and sequence numbers

Pass timestamps and sequence numbers from {rgb,depth} stream
processors to turbojpeg rgb processor and {cpu,opengl,opencl}
depth processors, then to rgb and depth frames.

This commit subsumes PR #71 by @hovren and #148 by @MasWag.

Author: xlz

examples/protonect/include/libfreenect2/depth_packet_processor.h

@@ -40,6 +40,7 @@ namespace libfreenect2
 struct LIBFREENECT2_API DepthPacket
 {
   uint32_t sequence;
+  uint32_t timestamp;
   unsigned char *buffer;
   size_t buffer_length;
 };

examples/protonect/include/libfreenect2/frame_listener.hpp

@@ -28,6 +28,7 @@
 #define FRAME_LISTENER_HPP_
 
 #include <cstddef>
+#include <stdint.h>
 #include <libfreenect2/config.h>
 
 namespace libfreenect2
@@ -42,6 +43,8 @@ struct LIBFREENECT2_API Frame
     Depth = 4
   };
 
+  uint32_t timestamp;
+  uint32_t sequence;
   size_t width, height, bytes_per_pixel;
   unsigned char* data;
 

examples/protonect/include/libfreenect2/rgb_packet_processor.h

@@ -41,6 +41,7 @@ struct LIBFREENECT2_API RgbPacket
 {
   uint32_t sequence;
 
+  uint32_t timestamp;
   unsigned char *jpeg_buffer;
   size_t jpeg_buffer_length;
 };

examples/protonect/src/cpu_depth_packet_processor.cpp

@@ -743,6 +743,11 @@ void CpuDepthPacketProcessor::process(const DepthPacket &packet)
 
   impl_->startTiming();
 
+  impl_->ir_frame->timestamp = packet.timestamp;
+  impl_->depth_frame->timestamp = packet.timestamp;
+  impl_->ir_frame->sequence = packet.sequence;
+  impl_->depth_frame->sequence = packet.sequence;
+
   cv::Mat m = cv::Mat::zeros(424, 512, CV_32FC(9)), m_filtered = cv::Mat::zeros(424, 512, CV_32FC(9)), m_max_edge_test = cv::Mat::ones(424, 512, CV_8UC1);
 
   float *m_ptr = m.ptr<float>();

examples/protonect/src/depth_packet_stream_parser.cpp

@@ -105,6 +105,7 @@ void DepthPacketStreamParser::onDataReceived(unsigned char* buffer, size_t in_le
 
               DepthPacket packet;
               packet.sequence = current_sequence_;
+              packet.timestamp = footer->timestamp;
               packet.buffer = buffer_.back().data;
               packet.buffer_length = buffer_.back().length;
 

examples/protonect/src/opencl_depth_packet_processor.cpp

@@ -653,6 +653,11 @@ void OpenCLDepthPacketProcessor::process(const DepthPacket &packet)
 
   impl_->startTiming();
 
+  impl_->ir_frame->timestamp = packet.timestamp;
+  impl_->depth_frame->timestamp = packet.timestamp;
+  impl_->ir_frame->sequence = packet.sequence;
+  impl_->depth_frame->sequence = packet.sequence;
+
   impl_->run(packet);
 
   impl_->stopTiming();

examples/protonect/src/opengl_depth_packet_processor.cpp

@@ -940,6 +940,11 @@ void OpenGLDepthPacketProcessor::process(const DepthPacket &packet)
 
   if(has_listener)
   {
+    ir->timestamp = packet.timestamp;
+    depth->timestamp = packet.timestamp;
+    ir->sequence = packet.sequence;
+    depth->sequence = packet.sequence;
+
     if(!this->listener_->onNewFrame(Frame::Ir, ir))
     {
       delete ir;

examples/protonect/src/rgb_packet_stream_parser.cpp

@@ -146,6 +146,7 @@ void RgbPacketStreamParser::onDataReceived(unsigned char* buffer, size_t length)
         RawRgbPacket *raw_packet = reinterpret_cast<RawRgbPacket *>(bb.data);
         RgbPacket rgb_packet;
         rgb_packet.sequence = raw_packet->sequence;
+        rgb_packet.timestamp = footer->timestamp;
         rgb_packet.jpeg_buffer = raw_packet->jpeg_buffer;
         rgb_packet.jpeg_buffer_length = jpeg_length;
 

examples/protonect/src/turbo_jpeg_rgb_packet_processor.cpp

@@ -112,6 +112,9 @@ void TurboJpegRgbPacketProcessor::process(const RgbPacket &packet)
   {
     impl_->startTiming();
 
+    impl_->frame->timestamp = packet.timestamp;
+    impl_->frame->sequence = packet.sequence;
+
     int r = tjDecompress2(impl_->decompressor, packet.jpeg_buffer, packet.jpeg_buffer_length, impl_->frame->data, 1920, 1920 * tjPixelSize[TJPF_BGR], 1080, TJPF_BGR, 0);
 
     if(r == 0)