518 lines
14 KiB
C++
518 lines
14 KiB
C++
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/** \file playback.hpp
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* Copyright (c) Microsoft Corporation. All rights reserved.
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* Licensed under the MIT License.
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* Kinect For Azure SDK - C++ wrapper.
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*/
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#ifndef K4A_PLAYBACK_HPP
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#define K4A_PLAYBACK_HPP
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#include <k4a/k4a.hpp>
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#include <k4arecord/playback.h>
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#include <algorithm>
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#include <chrono>
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#include <string>
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#include <vector>
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namespace k4a
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{
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/** \class data_block playback.hpp <k4arecord/playback.hpp>
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* Wrapper for \ref k4a_playback_data_block_t
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*
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* \sa k4a_playback_data_block_t
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*/
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class data_block
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{
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public:
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/** Creates a data_block from a k4a_playback_data_block_t
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* Takes ownership of the handle, you should not call k4a_playback_data_block_release on the handle after
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* giving it to the data_block; the data_block will take care of that.
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*/
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data_block(k4a_playback_data_block_t handle = nullptr) noexcept : m_handle(handle) {}
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// No Copies allowed
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data_block(const data_block &) = delete;
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data_block &operator=(const data_block &) = delete;
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/** Moves another data_block into a new data_block
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*/
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data_block(data_block &&other) noexcept
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{
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m_handle = other.m_handle;
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other.m_handle = nullptr;
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}
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~data_block()
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{
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reset();
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}
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/** Moves another data_block into this data_block; other is set to invalid
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*/
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data_block &operator=(data_block &&other) noexcept
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{
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if (this != &other)
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{
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reset();
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m_handle = other.m_handle;
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other.m_handle = nullptr;
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}
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return *this;
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}
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/** Returns true if the data_block is valid, false otherwise
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*/
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explicit operator bool() const noexcept
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{
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return is_valid();
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}
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/** Returns true if the data_block is valid, false otherwise
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*/
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bool is_valid() const noexcept
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{
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return m_handle != nullptr;
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}
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/** Releases the underlying k4a_playback_data_block_t; the data_block is set to invalid.
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*/
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void reset() noexcept
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{
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if (m_handle)
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{
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k4a_playback_data_block_release(m_handle);
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m_handle = nullptr;
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}
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}
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/** Get the time stamp in micro seconds for the given data_block
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*
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* \sa k4a_playback_data_block_get_device_timestamp_usec
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*/
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std::chrono::microseconds get_device_timestamp_usec() const noexcept
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{
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return std::chrono::microseconds(k4a_playback_data_block_get_device_timestamp_usec(m_handle));
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}
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/** Get the size of the data_block buffer.
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*
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* \sa k4a_playback_data_block_get_buffer_size
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*/
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size_t get_buffer_size() const noexcept
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{
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return k4a_playback_data_block_get_buffer_size(m_handle);
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}
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/** Get the data_block buffer.
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*
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* \sa k4a_playback_data_block_get_buffer
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*/
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const uint8_t *get_buffer() const noexcept
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{
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return k4a_playback_data_block_get_buffer(m_handle);
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}
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private:
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k4a_playback_data_block_t m_handle;
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};
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/** \class playback playback.hpp <k4arecord/playback.hpp>
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* Wrapper for \ref k4a_playback_t
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*
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* Wraps a handle for a playback object
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*
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* \sa k4a_playback_t
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*/
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class playback
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{
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public:
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/** Creates a k4a::playback from a k4a_playback_t
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* Takes ownership of the handle, i.e. you should not call
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* k4a_playback_close on the handle after giving it to the
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* k4a::playback; the k4a::playback will take care of that.
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*/
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playback(k4a_playback_t handle = nullptr) noexcept : m_handle(handle) {}
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/** Moves another k4a::playback into a new k4a::playback
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*/
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playback(playback &&other) noexcept : m_handle(other.m_handle)
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{
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other.m_handle = nullptr;
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}
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playback(const playback &) = delete;
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~playback()
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{
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close();
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}
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playback &operator=(const playback &) = delete;
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/** Moves another k4a::playback into this k4a::playback; other is set to invalid
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*/
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playback &operator=(playback &&other) noexcept
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{
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if (this != &other)
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{
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close();
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m_handle = other.m_handle;
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other.m_handle = nullptr;
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}
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return *this;
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}
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/** Returns true if the k4a::playback is valid, false otherwise
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*/
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explicit operator bool() const noexcept
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{
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return is_valid();
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}
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/** Returns true if the k4a::playback is valid, false otherwise
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*/
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bool is_valid() const noexcept
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{
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return m_handle != nullptr;
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}
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/** Closes a K4A recording.
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*
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* \sa k4a_playback_close
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*/
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void close() noexcept
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{
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if (m_handle != nullptr)
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{
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k4a_playback_close(m_handle);
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m_handle = nullptr;
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}
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}
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/** Get the raw calibration blob for the K4A device that made the recording.
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* Throws error on failure.
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*
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* \sa k4a_playback_get_raw_calibration
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*/
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std::vector<uint8_t> get_raw_calibration() const
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{
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std::vector<uint8_t> calibration;
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size_t buffer = 0;
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k4a_buffer_result_t result = k4a_playback_get_raw_calibration(m_handle, nullptr, &buffer);
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if (result == K4A_BUFFER_RESULT_TOO_SMALL && buffer > 1)
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{
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calibration.resize(buffer);
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result = k4a_playback_get_raw_calibration(m_handle, &calibration[0], &buffer);
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}
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if (result != K4A_BUFFER_RESULT_SUCCEEDED)
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{
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throw error("Failed to read raw device calibration from recording!");
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}
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return calibration;
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}
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/** Get the camera calibration for the K4A device that made the recording, which is used for all transformation
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* functions. Throws error on failure.
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*
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* \sa k4a_playback_get_calibration
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*/
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calibration get_calibration() const
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{
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calibration calib;
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k4a_result_t result = k4a_playback_get_calibration(m_handle, &calib);
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if (K4A_RESULT_SUCCEEDED != result)
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{
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throw error("Failed to read device calibration from recording!");
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}
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return calib;
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}
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/** Gets the configuration of the recording
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*
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* \sa k4a_playback_get_record_configuration
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*/
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k4a_record_configuration_t get_record_configuration() const
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{
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k4a_record_configuration_t config;
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k4a_result_t result = k4a_playback_get_record_configuration(m_handle, &config);
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if (K4A_RESULT_SUCCEEDED != result)
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{
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throw error("Failed to read record configuration!");
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}
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return config;
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}
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/** Get the next capture in the recording.
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* Returns true if a capture was available, false if there are none left.
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* Throws error on failure.
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*
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* \sa k4a_playback_get_next_capture
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*/
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bool get_next_capture(capture *cap)
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{
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k4a_capture_t capture_handle;
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k4a_stream_result_t result = k4a_playback_get_next_capture(m_handle, &capture_handle);
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if (K4A_STREAM_RESULT_SUCCEEDED == result)
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{
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*cap = capture(capture_handle);
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return true;
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}
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else if (K4A_STREAM_RESULT_EOF == result)
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{
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return false;
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}
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throw error("Failed to get next capture!");
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}
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/** Get the previous capture in the recording.
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* Returns true if a capture was available, false if there are none left.
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* Throws error on failure.
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*
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* \sa k4a_playback_get_previous_capture
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*/
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bool get_previous_capture(capture *cap)
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{
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k4a_capture_t capture_handle;
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k4a_stream_result_t result = k4a_playback_get_previous_capture(m_handle, &capture_handle);
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if (K4A_STREAM_RESULT_SUCCEEDED == result)
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{
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*cap = capture(capture_handle);
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return true;
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}
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else if (K4A_STREAM_RESULT_EOF == result)
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{
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return false;
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}
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throw error("Failed to get previous capture!");
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}
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/** Reads the value of a tag from the recording
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* Returns false if the tag does not exist.
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*
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* \sa k4a_playback_get_tag
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*/
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bool get_tag(const char *name, std::string *out) const
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{
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std::string tag;
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size_t buffer = 0;
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k4a_buffer_result_t result = k4a_playback_get_tag(m_handle, name, nullptr, &buffer);
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if (result == K4A_BUFFER_RESULT_TOO_SMALL && buffer > 0)
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{
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tag.resize(buffer);
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result = k4a_playback_get_tag(m_handle, name, &tag[0], &buffer);
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if (result == K4A_BUFFER_RESULT_SUCCEEDED && tag[buffer - 1] == 0)
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{
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// std::string expects there to not be as null terminator at the end of its data but
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// k4a_playback_get_tag adds a null terminator, so we drop the last character of the string after we
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// get the result back.
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tag.resize(buffer - 1);
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}
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}
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if (result != K4A_BUFFER_RESULT_SUCCEEDED)
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{
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return false;
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}
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*out = std::move(tag);
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return true;
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}
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/** Get the next IMU sample in the recording.
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* Returns true if a sample was available, false if there are none left.
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* Throws error on failure.
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*
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* \sa k4a_playback_get_next_imu_sample
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*/
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bool get_next_imu_sample(k4a_imu_sample_t *sample)
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{
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k4a_stream_result_t result = k4a_playback_get_next_imu_sample(m_handle, sample);
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if (K4A_STREAM_RESULT_SUCCEEDED == result)
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{
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return true;
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}
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else if (K4A_STREAM_RESULT_EOF == result)
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{
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return false;
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}
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throw error("Failed to get next IMU sample!");
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}
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/** Get the previous IMU sample in the recording.
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* Returns true if a sample was available, false if there are none left.
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* Throws error on failure.
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*
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* \sa k4a_playback_get_previous_imu_sample
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*/
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bool get_previous_imu_sample(k4a_imu_sample_t *sample)
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{
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k4a_stream_result_t result = k4a_playback_get_previous_imu_sample(m_handle, sample);
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if (K4A_STREAM_RESULT_SUCCEEDED == result)
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{
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return true;
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}
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else if (K4A_STREAM_RESULT_EOF == result)
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{
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return false;
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}
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throw error("Failed to get previous IMU sample!");
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}
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/** Seeks to a specific time point in the recording
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* Throws error on failure.
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*
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* \sa k4a_playback_seek_timestamp
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*/
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void seek_timestamp(std::chrono::microseconds offset, k4a_playback_seek_origin_t origin)
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{
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k4a_result_t result = k4a_playback_seek_timestamp(m_handle, offset.count(), origin);
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if (K4A_RESULT_SUCCEEDED != result)
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{
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throw error("Failed to seek recording!");
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}
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}
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/** Get the last valid timestamp in the recording
|
||
|
|
*
|
||
|
|
* \sa k4a_playback_get_recording_length_usec
|
||
|
|
*/
|
||
|
|
std::chrono::microseconds get_recording_length() const noexcept
|
||
|
|
{
|
||
|
|
return std::chrono::microseconds(k4a_playback_get_recording_length_usec(m_handle));
|
||
|
|
}
|
||
|
|
|
||
|
|
/** Set the image format that color captures will be converted to. By default the conversion format will be the
|
||
|
|
* same as the image format stored in the recording file, and no conversion will occur.
|
||
|
|
*
|
||
|
|
* Throws error on failure.
|
||
|
|
*
|
||
|
|
* \sa k4a_playback_set_color_conversion
|
||
|
|
*/
|
||
|
|
void set_color_conversion(k4a_image_format_t format)
|
||
|
|
{
|
||
|
|
k4a_result_t result = k4a_playback_set_color_conversion(m_handle, format);
|
||
|
|
|
||
|
|
if (K4A_RESULT_SUCCEEDED != result)
|
||
|
|
{
|
||
|
|
throw error("Failed to set color conversion!");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/** Get the next data block in the recording.
|
||
|
|
* Returns true if a block was available, false if there are none left.
|
||
|
|
* Throws error on failure.
|
||
|
|
*
|
||
|
|
* \sa k4a_playback_get_next_data_block
|
||
|
|
*/
|
||
|
|
bool get_next_data_block(const char *track, data_block *block)
|
||
|
|
{
|
||
|
|
k4a_playback_data_block_t block_handle;
|
||
|
|
k4a_stream_result_t result = k4a_playback_get_next_data_block(m_handle, track, &block_handle);
|
||
|
|
|
||
|
|
if (K4A_STREAM_RESULT_SUCCEEDED == result)
|
||
|
|
{
|
||
|
|
*block = data_block(block_handle);
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
else if (K4A_STREAM_RESULT_EOF == result)
|
||
|
|
{
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
throw error("Failed to get next data block!");
|
||
|
|
}
|
||
|
|
|
||
|
|
/** Get the previous data block from the recording.
|
||
|
|
* Returns true if a block was available, false if there are none left.
|
||
|
|
* Throws error on failure.
|
||
|
|
*
|
||
|
|
* \sa k4a_playback_get_previous_data_block
|
||
|
|
*/
|
||
|
|
bool get_previous_data_block(const char *track, data_block *block)
|
||
|
|
{
|
||
|
|
k4a_playback_data_block_t block_handle;
|
||
|
|
k4a_stream_result_t result = k4a_playback_get_previous_data_block(m_handle, track, &block_handle);
|
||
|
|
|
||
|
|
if (K4A_STREAM_RESULT_SUCCEEDED == result)
|
||
|
|
{
|
||
|
|
*block = data_block(block_handle);
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
else if (K4A_STREAM_RESULT_EOF == result)
|
||
|
|
{
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
throw error("Failed to get previous data block!");
|
||
|
|
}
|
||
|
|
|
||
|
|
/** Get the attachment block from the recording.
|
||
|
|
* Returns true if the attachment was available, false if it was not found.
|
||
|
|
* Throws error on failure.
|
||
|
|
*
|
||
|
|
* \sa k4a_playback_get_attachment
|
||
|
|
*/
|
||
|
|
bool get_attachment(const char *attachment, std::vector<uint8_t> *data)
|
||
|
|
{
|
||
|
|
size_t data_size = 0;
|
||
|
|
k4a_buffer_result_t result = k4a_playback_get_attachment(m_handle, attachment, nullptr, &data_size);
|
||
|
|
if (result == K4A_BUFFER_RESULT_TOO_SMALL)
|
||
|
|
{
|
||
|
|
data->resize(data_size);
|
||
|
|
result = k4a_playback_get_attachment(m_handle, attachment, &(*data)[0], &data_size);
|
||
|
|
if (result != K4A_BUFFER_RESULT_SUCCEEDED)
|
||
|
|
{
|
||
|
|
throw error("Failed to read attachment!");
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
/** Opens a K4A recording for playback.
|
||
|
|
* Throws error on failure.
|
||
|
|
*
|
||
|
|
* \sa k4a_playback_open
|
||
|
|
*/
|
||
|
|
static playback open(const char *path)
|
||
|
|
{
|
||
|
|
k4a_playback_t handle = nullptr;
|
||
|
|
k4a_result_t result = k4a_playback_open(path, &handle);
|
||
|
|
|
||
|
|
if (K4A_RESULT_SUCCEEDED != result)
|
||
|
|
{
|
||
|
|
throw error("Failed to open recording!");
|
||
|
|
}
|
||
|
|
|
||
|
|
return playback(handle);
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
k4a_playback_t m_handle;
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace k4a
|
||
|
|
|
||
|
|
#endif
|