Updated C# timestamp methods (#598)

src/csharp/SDK/Device.cs

@@ -328,7 +328,7 @@ namespace Microsoft.Azure.Kinect.Sensor
 
                 using (LoggingTracer tracer = new LoggingTracer())
                 {
-                    ImuSample sample = new ImuSample();
+                    NativeMethods.k4a_imu_sample_t sample = new NativeMethods.k4a_imu_sample_t();
                     NativeMethods.k4a_wait_result_t result = NativeMethods.k4a_device_get_imu_sample(this.handle, sample, (int)timeout.TotalMilliseconds);
 
                     if (result == NativeMethods.k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT)
@@ -338,7 +338,7 @@ namespace Microsoft.Azure.Kinect.Sensor
 
                     AzureKinectException.ThrowIfNotSuccess(tracer, result);
 
-                    return sample;
+                    return sample.ToImuSample();
                 }
             }
         }

src/csharp/SDK/Image.cs

@@ -6,6 +6,8 @@
 //------------------------------------------------------------------------------
 using System;
 using System.Buffers;
+using System.Diagnostics;
+using System.Numerics;
 using System.Runtime.InteropServices;
 
 namespace Microsoft.Azure.Kinect.Sensor
@@ -355,7 +357,7 @@ namespace Microsoft.Azure.Kinect.Sensor
         /// <summary>
         /// Gets or sets the image time-stamp in the device's clock.
         /// </summary>
-        public TimeSpan Timestamp
+        public TimeSpan DeviceTimestamp
         {
             get
             {
@@ -366,7 +368,7 @@ namespace Microsoft.Azure.Kinect.Sensor
                         throw new ObjectDisposedException(nameof(Image));
                     }
 
-                    ulong timestamp = NativeMethods.k4a_image_get_timestamp_usec(this.handle);
+                    ulong timestamp = NativeMethods.k4a_image_get_device_timestamp_usec(this.handle);
                     return TimeSpan.FromTicks(checked((long)timestamp) * 10);
                 }
             }
@@ -380,7 +382,45 @@ namespace Microsoft.Azure.Kinect.Sensor
                         throw new ObjectDisposedException(nameof(Image));
                     }
 
-                    NativeMethods.k4a_image_set_timestamp_usec(this.handle, checked((ulong)value.Ticks / 10));
+                    NativeMethods.k4a_image_set_device_timestamp_usec(this.handle, checked((ulong)value.Ticks / 10));
+                }
+            }
+        }
+
+        /// <summary>
+        /// Gets or sets the image timestamp in nanoseconds.
+        /// </summary>
+        /// <remarks>
+        /// The base of the timestamp clock is the same as Stopwatch.GetTimestamp(). Units need to be
+        /// converted between nanoseconds and the Stopwatch frequency to make comparisons.
+        /// </remarks>
+        public long SystemTimestampNsec
+        {
+            get
+            {
+                lock (this)
+                {
+                    if (this.disposedValue)
+                    {
+                        throw new ObjectDisposedException(nameof(Image));
+                    }
+
+                    ulong timestamp = NativeMethods.k4a_image_get_system_timestamp_nsec(this.handle);
+
+                    return (long)timestamp;
+                }
+            }
+
+            set
+            {
+                lock (this)
+                {
+                    if (this.disposedValue)
+                    {
+                        throw new ObjectDisposedException(nameof(Image));
+                    }
+
+                    NativeMethods.k4a_image_set_system_timestamp_nsec(this.handle, (ulong)value);
                 }
             }
         }

src/csharp/SDK/ImuSample.cs

@@ -24,9 +24,9 @@ namespace Microsoft.Azure.Kinect.Sensor
         public Vector3 AccelerometerSample { get; set; }
 
         /// <summary>
-        /// Gets or sets timestamp of the accerometer in microseconds.
+        /// Gets or sets timestamp of the accerometer.
         /// </summary>
-        public long AccelerometerTimestampInUsec { get; set; }
+        public TimeSpan AccelerometerTimestamp { get; set; }
 
         /// <summary>
         /// Gets or sets gyroscope sample in radians per second.
@@ -34,9 +34,8 @@ namespace Microsoft.Azure.Kinect.Sensor
         public Vector3 GyroSample { get; set; }
 
         /// <summary>
-        /// Gets or sets timestamp of the gyroscope in microseconds.
+        /// Gets or sets timestamp of the gyroscope.
         /// </summary>
-        public long GyroTimestampInUsec { get; set; }
-
+        public TimeSpan GyroTimestamp { get; set; }
     }
 }

src/csharp/SDK/Native/NativeMethods.cs

@@ -181,6 +181,29 @@ namespace Microsoft.Azure.Kinect.Sensor
             }
         }
 
+        [StructLayout(LayoutKind.Sequential)]
+        [Native.NativeReference("k4a_imu_sample_t")]
+        public class k4a_imu_sample_t
+        {
+            public float temperature { get; set; }
+            public Vector3 acc_sample { get; set; }
+            public UInt64 acc_timestamp_usec { get; set; }
+            public Vector3 gyro_sample { get; set; }
+            public UInt64 gyro_timestamp_usec { get; set; }
+
+            public ImuSample ToImuSample()
+            {
+                return new ImuSample
+                {
+                    Temperature = temperature,
+                    AccelerometerSample = acc_sample,
+                    AccelerometerTimestamp = TimeSpan.FromTicks(checked((long)acc_timestamp_usec) * 10),
+                    GyroSample = gyro_sample,
+                    GyroTimestamp = TimeSpan.FromTicks(checked((long)gyro_timestamp_usec) * 10)
+                };
+            }
+        }
+
         [NativeReference]
         [StructLayout(LayoutKind.Sequential)]
         public struct k4a_device_configuration_t
@@ -398,7 +421,7 @@ namespace Microsoft.Azure.Kinect.Sensor
         [NativeReference]
         public static extern k4a_wait_result_t k4a_device_get_imu_sample(
             k4a_device_t device_handle,
-            ImuSample imu_sample,
+            [Out] k4a_imu_sample_t imu_sample,
             Int32 timeout_in_ms);
 
         [DllImport("k4a", CallingConvention = k4aCallingConvention)]
@@ -502,11 +525,19 @@ namespace Microsoft.Azure.Kinect.Sensor
 
         [DllImport("k4a", CallingConvention = k4aCallingConvention)]
         [NativeReference]
-        public static extern UInt64 k4a_image_get_timestamp_usec(k4a_image_t image_handle);
+        public static extern UInt64 k4a_image_get_device_timestamp_usec(k4a_image_t image_handle);
+
+        [DllImport("k4a", CallingConvention = CallingConvention.Cdecl)]
+        [NativeReference]
+        public static extern void k4a_image_set_device_timestamp_usec(k4a_image_t image_handle, UInt64 value);
+
+        [DllImport("k4a", CallingConvention = CallingConvention.Cdecl)]
+        [NativeReference]
+        public static extern UInt64 k4a_image_get_system_timestamp_nsec(k4a_image_t image_handle);
 
         [DllImport("k4a", CallingConvention = k4aCallingConvention)]
         [NativeReference]
-        public static extern void k4a_image_set_timestamp_usec(k4a_image_t image_handle, UInt64 value);
+        public static extern void k4a_image_set_system_timestamp_nsec(k4a_image_t image_handle, UInt64 value);
 
         [DllImport("k4a", CallingConvention = k4aCallingConvention)]
         [NativeReference]

src/csharp/SDK/Transformation.cs

@@ -63,7 +63,7 @@ namespace Microsoft.Azure.Kinect.Sensor
                 this.calibration.color_camera_calibration.resolution_width,
                 this.calibration.color_camera_calibration.resolution_height)
             {
-                Timestamp = depth.Timestamp,
+                DeviceTimestamp = depth.DeviceTimestamp,
             };
 
             this.DepthImageToColorCamera(depth, image);
@@ -182,7 +182,8 @@ namespace Microsoft.Azure.Kinect.Sensor
             {
                 Exposure = color.Exposure,
                 ISOSpeed = color.ISOSpeed,
-                Timestamp = color.Timestamp,
+                DeviceTimestamp = color.DeviceTimestamp,
+                SystemTimestampNsec = color.SystemTimestampNsec,
                 WhiteBalance = color.WhiteBalance,
             };
 

src/csharp/Tests/UnitTests/DeviceFunctionTests.cs

@@ -7,6 +7,7 @@
 using System;
 using Microsoft.Azure.Kinect.Sensor.Test.StubGenerator;
 using NUnit.Framework;
+using System;
 
 namespace Microsoft.Azure.Kinect.Sensor.UnitTests
 {
@@ -963,13 +964,14 @@ k4a_wait_result_t k4a_device_get_imu_sample(k4a_device_t device_handle, k4a_imu_
     imu_sample->acc_sample.v[0] = 0.0f;
     imu_sample->acc_sample.v[1] = 0.1f;
     imu_sample->acc_sample.v[2] = 0.2f;
-    imu_sample->acc_timestamp_usec = 0x1000200030004000;
+    // 10 seconds
+    imu_sample->acc_timestamp_usec = 10000000;
 
     imu_sample->gyro_sample.v[0] = 0.4f;
     imu_sample->gyro_sample.v[1] = 0.5f;
     imu_sample->gyro_sample.v[2] = 0.6f;
 
-    imu_sample->gyro_timestamp_usec = 0x2000200030004002;
+    imu_sample->gyro_timestamp_usec = 60000000;
 
     return K4A_WAIT_RESULT_SUCCEEDED;
 }
@@ -987,12 +989,12 @@ k4a_wait_result_t k4a_device_get_imu_sample(k4a_device_t device_handle, k4a_imu_
                     Assert.AreEqual(0.0f, sample.AccelerometerSample.X);
                     Assert.AreEqual(0.1f, sample.AccelerometerSample.Y);
                     Assert.AreEqual(0.2f, sample.AccelerometerSample.Z);
-                    Assert.AreEqual(0x1000200030004000, sample.AccelerometerTimestampInUsec);
+                    Assert.AreEqual(TimeSpan.FromSeconds(10), sample.AccelerometerTimestamp);
 
                     Assert.AreEqual(0.4f, sample.GyroSample.X);
                     Assert.AreEqual(0.5f, sample.GyroSample.Y);
                     Assert.AreEqual(0.6f, sample.GyroSample.Z);
-                    Assert.AreEqual(0x2000200030004002, sample.GyroTimestampInUsec);
+                    Assert.AreEqual(TimeSpan.FromMinutes(1), sample.GyroTimestamp);
 
                     Assert.AreEqual(1, count.Calls("k4a_device_get_imu_sample"));