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refactor: rename exit_lidarparse_timestamp to exit_source_timestamp #909

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Merged
ZiningLi merged 3 commits into from
Jun 12, 2026
Merged

refactor: rename exit_lidarparse_timestamp to exit_source_timestamp #909

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f76b467
refactor: rename exit_lidarparse_timestamp to exit_source_timestamp
ZiningLi Jun 11, 2026
1270130
fix code style
ZiningLi Jun 12, 2026
74e0fe9
Merge branch 'main' into refactor/rename-exit-lidarparse-timestamp
ZiningLi Jun 12, 2026
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2 changes: 1 addition & 1 deletion docs/user-guide/elements/g3dinference.md
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ The element operates in-place. It keeps the point cloud payload intact and appen
- `lidar_point_count`
- `frame_id`
- `stream_id`
- `exit_lidarparse_timestamp`
- `exit_source_timestamp`

### Output metadata

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4 changes: 2 additions & 2 deletions include/dlstreamer/gst/metadata/g3d_lidar_meta.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ typedef struct _LidarMeta {
GstMeta meta;
guint lidar_point_count; /* Number of points in this frame. Each point occupies 4 floats (x, y, z, intensity). */
size_t frame_id; /* Sequential frame identifier from the source stream. */
GstClockTime exit_lidarparse_timestamp; /* Timestamp (GStreamer clock time) when this buffer exits g3dlidarparse. */
GstClockTime exit_source_timestamp; /* Timestamp (GStreamer clock time) when this buffer exits g3dlidarparse. */
GstClockTime
exit_g3dinference_timestamp; /* Timestamp (GStreamer clock time) when this buffer exits g3dinference. */
guint stream_id; /* Stream identifier (group-id from STREAM_START) for multi-stream pipelines. */
Expand All @@ -30,7 +30,7 @@ DLS_EXPORT const GstMetaInfo *lidar_meta_get_info(void);
#define LIDAR_META_INFO (lidar_meta_get_info())

DLS_EXPORT LidarMeta *add_lidar_meta(GstBuffer *buffer, guint lidar_point_count, size_t frame_id,
GstClockTime exit_lidarparse_timestamp, guint stream_id);
GstClockTime exit_source_timestamp, guint stream_id);

G_END_DECLS

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10 changes: 5 additions & 5 deletions src/gst/metadata/g3d_lidar_meta.c
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Expand Up @@ -24,7 +24,7 @@ static gboolean lidar_meta_init(GstMeta *meta, gpointer params, GstBuffer *buffe
LidarMeta *lidar_meta = (LidarMeta *)meta;
lidar_meta->lidar_point_count = 0;
lidar_meta->frame_id = 0;
lidar_meta->exit_lidarparse_timestamp = GST_CLOCK_TIME_NONE;
lidar_meta->exit_source_timestamp = GST_CLOCK_TIME_NONE;
lidar_meta->exit_g3dinference_timestamp = GST_CLOCK_TIME_NONE;
lidar_meta->stream_id = 0;
return TRUE;
Expand All @@ -48,15 +48,15 @@ DLS_EXPORT const GstMetaInfo *lidar_meta_get_info(void) {
}

DLS_EXPORT LidarMeta *add_lidar_meta(GstBuffer *buffer, guint lidar_point_count, size_t frame_id,
GstClockTime exit_lidarparse_timestamp, guint stream_id) {
GstClockTime exit_source_timestamp, guint stream_id) {
if (!buffer) {
GST_WARNING("Cannot add meta to NULL buffer");
return NULL;
}

GST_DEBUG(
"Adding LidarMeta to buffer with lidar_point_count=%u frame_id=%zu stream_id=%u exit_ts=%" GST_TIME_FORMAT,
lidar_point_count, frame_id, stream_id, GST_TIME_ARGS(exit_lidarparse_timestamp));
lidar_point_count, frame_id, stream_id, GST_TIME_ARGS(exit_source_timestamp));

LidarMeta *meta = (LidarMeta *)gst_buffer_add_meta(buffer, LIDAR_META_INFO, NULL);
if (!meta) {
Expand All @@ -66,12 +66,12 @@ DLS_EXPORT LidarMeta *add_lidar_meta(GstBuffer *buffer, guint lidar_point_count,

meta->lidar_point_count = lidar_point_count;
meta->frame_id = frame_id;
meta->exit_lidarparse_timestamp = exit_lidarparse_timestamp;
meta->exit_source_timestamp = exit_source_timestamp;
meta->stream_id = stream_id;

GST_DEBUG(
"LidarMeta added successfully: lidar_point_count=%u, frame_id=%zu, stream_id=%u, exit_ts=%" GST_TIME_FORMAT,
meta->lidar_point_count, meta->frame_id, meta->stream_id, GST_TIME_ARGS(meta->exit_lidarparse_timestamp));
meta->lidar_point_count, meta->frame_id, meta->stream_id, GST_TIME_ARGS(meta->exit_source_timestamp));

return meta;
}
19 changes: 8 additions & 11 deletions src/monolithic/gst/3d_elements/g3dlidarparse/g3dlidarparse.cpp
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Expand Up @@ -412,21 +412,19 @@ static GstFlowReturn gst_g3d_lidar_parse_transform(GstBaseTransform *trans, GstB
}

gst_buffer_remove_all_memory(outbuf);
GstClockTime exit_lidarparse_timestamp = GST_CLOCK_TIME_NONE;
GstClockTime exit_source_timestamp = GST_CLOCK_TIME_NONE;
if (GstClock *clock = gst_element_get_clock(GST_ELEMENT(filter))) {
exit_lidarparse_timestamp = gst_clock_get_time(clock);
GST_DEBUG_OBJECT(filter, "exit_ts from element clock: %" GST_TIME_FORMAT,
GST_TIME_ARGS(exit_lidarparse_timestamp));
exit_source_timestamp = gst_clock_get_time(clock);
GST_DEBUG_OBJECT(filter, "exit_ts from element clock: %" GST_TIME_FORMAT, GST_TIME_ARGS(exit_source_timestamp));
gst_object_unref(clock);
} else {
exit_lidarparse_timestamp = gst_util_get_timestamp();
exit_source_timestamp = gst_util_get_timestamp();
GST_DEBUG_OBJECT(filter, "exit_ts from gst_util_get_timestamp: %" GST_TIME_FORMAT,
GST_TIME_ARGS(exit_lidarparse_timestamp));
GST_TIME_ARGS(exit_source_timestamp));
}

GST_DEBUG_OBJECT(filter, "Add meta frame_id=%zu stream_id=%u exit_ts=%" GST_TIME_FORMAT " n_points=%zu stride=%d",
frame_id, filter->stream_id, GST_TIME_ARGS(exit_lidarparse_timestamp), point_count,
filter->stride);
frame_id, filter->stream_id, GST_TIME_ARGS(exit_source_timestamp), point_count, filter->stride);

if (!float_data.empty()) {
const gsize payload_size = float_data.size() * sizeof(float);
Expand Down Expand Up @@ -484,8 +482,7 @@ static GstFlowReturn gst_g3d_lidar_parse_transform(GstBaseTransform *trans, GstB
const gsize preview_len = std::min<gsize>(count, 5);
std::ostringstream oss;
oss << "lidar_point_count=" << point_count << " frame_id=" << frame_id << " stream_id=" << filter->stream_id
<< " exit_ts=" << exit_lidarparse_timestamp << "ns" << " preview(" << preview_len << "/" << count
<< "):";
<< " exit_ts=" << exit_source_timestamp << "ns" << " preview(" << preview_len << "/" << count << "):";

for (gsize i = 0; i < preview_len; ++i) {
oss << " " << std::fixed << std::setprecision(6) << float_data[i];
Expand All @@ -495,7 +492,7 @@ static GstFlowReturn gst_g3d_lidar_parse_transform(GstBaseTransform *trans, GstB
}
}

LidarMeta *lidar_meta = add_lidar_meta(outbuf, point_count, frame_id, exit_lidarparse_timestamp, filter->stream_id);
LidarMeta *lidar_meta = add_lidar_meta(outbuf, point_count, frame_id, exit_source_timestamp, filter->stream_id);
if (!lidar_meta) {
GST_ERROR_OBJECT(filter, "Failed to add lidar meta to buffer");
g_mutex_unlock(&filter->mutex);
Expand Down
2 changes: 1 addition & 1 deletion src/monolithic/gst/elements/gvametaconvert/jsonconverter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -672,7 +672,7 @@ json get_lidar_frame_data(GstGvaMetaConvert *converter, GstBuffer *buffer, Lidar
{"frame_id", lidar_meta->frame_id},
{"stream_id", lidar_meta->stream_id},
{"point_count", lidar_meta->lidar_point_count},
{"exit_lidarparse_timestamp", lidar_meta->exit_lidarparse_timestamp},
{"exit_source_timestamp", lidar_meta->exit_source_timestamp},
{"exit_g3dinference_timestamp", lidar_meta->exit_g3dinference_timestamp},
});

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4 changes: 2 additions & 2 deletions tests/unit_tests/check/elements/metaconvert/test_metaconvert/gvametaconvert.cpp
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Expand Up @@ -146,8 +146,8 @@ void check_pointpillars_outbuffer(GstBuffer *outbuffer, gpointer user_data) {
meta->message);
ck_assert_msg(lidar_frame["point_count"] == kPointPillarsPointCount, "Unexpected point_count. Message: %s",
meta->message);
ck_assert_msg(lidar_frame["exit_lidarparse_timestamp"] == kPointPillarsLidarParseTs,
"Unexpected exit_lidarparse_timestamp. Message: %s", meta->message);
ck_assert_msg(lidar_frame["exit_source_timestamp"] == kPointPillarsLidarParseTs,
"Unexpected exit_source_timestamp. Message: %s", meta->message);
ck_assert_msg(lidar_frame["exit_g3dinference_timestamp"] == kPointPillarsInferenceTs,
"Unexpected exit_g3dinference_timestamp. Message: %s", meta->message);

Expand Down
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