438 lines
20 KiB
C++
438 lines
20 KiB
C++
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// Copyright (c) Microsoft Corporation. All rights reserved.
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// Licensed under the MIT License.
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#include <k4a/k4a.h>
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#include "cmdparser.h"
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#include "recorder.h"
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#include "assert.h"
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#if defined(_WIN32)
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#include <windows.h>
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#endif
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#include <iostream>
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#include <atomic>
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#include <ctime>
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#include <chrono>
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#include <csignal>
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#include <math.h>
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using namespace std::chrono;
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static steady_clock::time_point exiting_timestamp;
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static void signal_handler(int s)
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{
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(void)s; // Unused
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if (!exiting)
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{
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std::cout << "Stopping recording..." << std::endl;
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exiting_timestamp = steady_clock::now();
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exiting = true;
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}
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// If Ctrl-C is received again after 1 second, force-stop the application since it's not responding.
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else if (steady_clock::now() - exiting_timestamp > seconds(1))
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{
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std::cout << "Forcing stop." << std::endl;
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exit(1);
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}
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}
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static int string_compare(const char *s1, const char *s2)
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{
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assert(s1 != NULL);
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assert(s2 != NULL);
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while (tolower((unsigned char)*s1) == tolower((unsigned char)*s2))
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{
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if (*s1 == '\0')
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{
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return 0;
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}
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s1++;
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s2++;
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}
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// The return value shows the relations between s1 and s2.
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// Return value Description
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// < 0 s1 less than s2
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// 0 s1 identical to s2
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// > 0 s1 greater than s2
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return (int)tolower((unsigned char)*s1) - (int)tolower((unsigned char)*s2);
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}
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[[noreturn]] static void list_devices()
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{
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uint32_t device_count = k4a_device_get_installed_count();
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if (device_count > 0)
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{
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for (uint8_t i = 0; i < device_count; i++)
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{
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std::cout << "Index:" << (int)i;
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k4a_device_t device;
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if (K4A_SUCCEEDED(k4a_device_open(i, &device)))
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{
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char serial_number_buffer[256];
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size_t serial_number_buffer_size = sizeof(serial_number_buffer);
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if (k4a_device_get_serialnum(device, serial_number_buffer, &serial_number_buffer_size) ==
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K4A_BUFFER_RESULT_SUCCEEDED)
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{
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std::cout << "\tSerial:" << serial_number_buffer;
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}
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else
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{
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std::cout << "\tSerial:ERROR";
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}
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k4a_hardware_version_t version_info;
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if (K4A_SUCCEEDED(k4a_device_get_version(device, &version_info)))
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{
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std::cout << "\tColor:" << version_info.rgb.major << "." << version_info.rgb.minor << "."
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<< version_info.rgb.iteration;
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std::cout << "\tDepth:" << version_info.depth.major << "." << version_info.depth.minor << "."
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<< version_info.depth.iteration;
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}
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k4a_device_close(device);
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}
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else
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{
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std::cout << i << "\tDevice Open Failed";
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}
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std::cout << std::endl;
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}
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}
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else
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{
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std::cout << "No devices connected." << std::endl;
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}
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exit(0);
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}
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int main(int argc, char **argv)
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{
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int device_index = 0;
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int recording_length = -1;
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k4a_image_format_t recording_color_format = K4A_IMAGE_FORMAT_COLOR_MJPG;
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k4a_color_resolution_t recording_color_resolution = K4A_COLOR_RESOLUTION_1080P;
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k4a_depth_mode_t recording_depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
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k4a_fps_t recording_rate = K4A_FRAMES_PER_SECOND_30;
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bool recording_rate_set = false;
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bool recording_imu_enabled = true;
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k4a_wired_sync_mode_t wired_sync_mode = K4A_WIRED_SYNC_MODE_STANDALONE;
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int32_t depth_delay_off_color_usec = 0;
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uint32_t subordinate_delay_off_master_usec = 0;
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int absoluteExposureValue = defaultExposureAuto;
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int gain = defaultGainAuto;
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char *recording_filename;
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CmdParser::OptionParser cmd_parser;
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cmd_parser.RegisterOption("-h|--help", "Prints this help", [&]() {
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std::cout << "k4arecorder [options] output.mkv" << std::endl << std::endl;
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cmd_parser.PrintOptions();
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exit(0);
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});
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cmd_parser.RegisterOption("--list", "List the currently connected K4A devices", list_devices);
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cmd_parser.RegisterOption("--device",
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"Specify the device index to use (default: 0)",
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1,
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[&](const std::vector<char *> &args) {
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device_index = std::stoi(args[0]);
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if (device_index < 0 || device_index > 255)
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throw std::runtime_error("Device index must 0-255");
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});
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cmd_parser.RegisterOption("-l|--record-length",
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"Limit the recording to N seconds (default: infinite)",
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1,
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[&](const std::vector<char *> &args) {
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recording_length = std::stoi(args[0]);
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if (recording_length < 0)
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throw std::runtime_error("Recording length must be positive");
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});
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cmd_parser.RegisterOption("-c|--color-mode",
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"Set the color sensor mode (default: 1080p), Available options:\n"
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"3072p, 2160p, 1536p, 1440p, 1080p, 720p, 720p_NV12, 720p_YUY2, OFF",
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1,
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[&](const std::vector<char *> &args) {
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if (string_compare(args[0], "3072p") == 0)
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{
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recording_color_resolution = K4A_COLOR_RESOLUTION_3072P;
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}
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else if (string_compare(args[0], "2160p") == 0)
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{
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recording_color_resolution = K4A_COLOR_RESOLUTION_2160P;
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}
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else if (string_compare(args[0], "1536p") == 0)
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{
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recording_color_resolution = K4A_COLOR_RESOLUTION_1536P;
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}
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else if (string_compare(args[0], "1440p") == 0)
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{
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recording_color_resolution = K4A_COLOR_RESOLUTION_1440P;
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}
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else if (string_compare(args[0], "1080p") == 0)
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{
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recording_color_resolution = K4A_COLOR_RESOLUTION_1080P;
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}
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else if (string_compare(args[0], "720p") == 0)
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{
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recording_color_resolution = K4A_COLOR_RESOLUTION_720P;
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}
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else if (string_compare(args[0], "720p_NV12") == 0)
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{
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recording_color_format = K4A_IMAGE_FORMAT_COLOR_NV12;
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recording_color_resolution = K4A_COLOR_RESOLUTION_720P;
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}
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else if (string_compare(args[0], "720p_YUY2") == 0)
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{
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recording_color_format = K4A_IMAGE_FORMAT_COLOR_YUY2;
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recording_color_resolution = K4A_COLOR_RESOLUTION_720P;
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}
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else if (string_compare(args[0], "off") == 0)
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{
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recording_color_resolution = K4A_COLOR_RESOLUTION_OFF;
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}
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else
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{
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recording_color_resolution = K4A_COLOR_RESOLUTION_OFF;
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std::ostringstream str;
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str << "Unknown color mode specified: " << args[0];
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throw std::runtime_error(str.str());
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}
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});
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cmd_parser.RegisterOption("-d|--depth-mode",
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"Set the depth sensor mode (default: NFOV_UNBINNED), Available options:\n"
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"NFOV_2X2BINNED, NFOV_UNBINNED, WFOV_2X2BINNED, WFOV_UNBINNED, PASSIVE_IR, OFF",
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1,
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[&](const std::vector<char *> &args) {
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if (string_compare(args[0], "NFOV_2X2BINNED") == 0)
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{
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recording_depth_mode = K4A_DEPTH_MODE_NFOV_2X2BINNED;
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}
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else if (string_compare(args[0], "NFOV_UNBINNED") == 0)
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{
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recording_depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
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}
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else if (string_compare(args[0], "WFOV_2X2BINNED") == 0)
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{
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recording_depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED;
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}
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else if (string_compare(args[0], "WFOV_UNBINNED") == 0)
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{
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recording_depth_mode = K4A_DEPTH_MODE_WFOV_UNBINNED;
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}
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else if (string_compare(args[0], "PASSIVE_IR") == 0)
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{
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recording_depth_mode = K4A_DEPTH_MODE_PASSIVE_IR;
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}
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else if (string_compare(args[0], "off") == 0)
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{
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recording_depth_mode = K4A_DEPTH_MODE_OFF;
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}
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else
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{
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std::ostringstream str;
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str << "Unknown depth mode specified: " << args[0];
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throw std::runtime_error(str.str());
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}
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});
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cmd_parser.RegisterOption("--depth-delay",
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"Set the time offset between color and depth frames in microseconds (default: 0)\n"
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"A negative value means depth frames will arrive before color frames.\n"
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"The delay must be less than 1 frame period.",
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1,
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[&](const std::vector<char *> &args) {
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depth_delay_off_color_usec = std::stoi(args[0]);
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});
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cmd_parser.RegisterOption("-r|--rate",
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"Set the camera frame rate in Frames per Second\n"
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"Default is the maximum rate supported by the camera modes.\n"
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"Available options: 30, 15, 5",
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1,
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[&](const std::vector<char *> &args) {
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recording_rate_set = true;
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if (string_compare(args[0], "30") == 0)
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{
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recording_rate = K4A_FRAMES_PER_SECOND_30;
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}
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else if (string_compare(args[0], "15") == 0)
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{
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recording_rate = K4A_FRAMES_PER_SECOND_15;
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}
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else if (string_compare(args[0], "5") == 0)
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{
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recording_rate = K4A_FRAMES_PER_SECOND_5;
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}
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else
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{
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std::ostringstream str;
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str << "Unknown frame rate specified: " << args[0];
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throw std::runtime_error(str.str());
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}
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});
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cmd_parser.RegisterOption("--imu",
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"Set the IMU recording mode (ON, OFF, default: ON)",
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1,
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[&](const std::vector<char *> &args) {
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if (string_compare(args[0], "on") == 0)
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{
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recording_imu_enabled = true;
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}
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else if (string_compare(args[0], "off") == 0)
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{
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recording_imu_enabled = false;
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}
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else
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{
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std::ostringstream str;
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str << "Unknown imu mode specified: " << args[0];
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throw std::runtime_error(str.str());
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}
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});
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cmd_parser.RegisterOption("--external-sync",
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"Set the external sync mode (Master, Subordinate, Standalone default: Standalone)",
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1,
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[&](const std::vector<char *> &args) {
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if (string_compare(args[0], "master") == 0)
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{
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wired_sync_mode = K4A_WIRED_SYNC_MODE_MASTER;
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}
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else if (string_compare(args[0], "subordinate") == 0 ||
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string_compare(args[0], "sub") == 0)
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{
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wired_sync_mode = K4A_WIRED_SYNC_MODE_SUBORDINATE;
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}
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else if (string_compare(args[0], "standalone") == 0)
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{
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wired_sync_mode = K4A_WIRED_SYNC_MODE_STANDALONE;
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}
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else
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{
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std::ostringstream str;
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str << "Unknown external sync mode specified: " << args[0];
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throw std::runtime_error(str.str());
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}
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});
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cmd_parser.RegisterOption("--sync-delay",
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"Set the external sync delay off the master camera in microseconds (default: 0)\n"
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"This setting is only valid if the camera is in Subordinate mode.",
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1,
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[&](const std::vector<char *> &args) {
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int delay = std::stoi(args[0]);
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if (delay < 0)
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{
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throw std::runtime_error("External sync delay must be positive.");
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}
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subordinate_delay_off_master_usec = (uint32_t)delay;
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});
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cmd_parser.RegisterOption("-e|--exposure-control",
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"Set manual exposure value from 2 us to 200,000us for the RGB camera (default: \n"
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"auto exposure). This control also supports MFC settings of -11 to 1).",
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1,
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[&](const std::vector<char *> &args) {
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int exposureValue = std::stoi(args[0]);
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if (exposureValue >= -11 && exposureValue <= 1)
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{
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absoluteExposureValue = static_cast<int32_t>(exp2f((float)exposureValue) *
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1000000.0f);
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}
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else if (exposureValue >= 2 && exposureValue <= 200000)
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{
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absoluteExposureValue = exposureValue;
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}
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else
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{
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throw std::runtime_error("Exposure value range is 2 to 5s, or -11 to 1.");
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}
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});
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cmd_parser.RegisterOption("-g|--gain",
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"Set cameras manual gain. The valid range is 0 to 255. (default: auto)",
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|
|
1,
|
||
|
|
[&](const std::vector<char *> &args) {
|
||
|
|
int gainSetting = std::stoi(args[0]);
|
||
|
|
if (gainSetting < 0 || gainSetting > 255)
|
||
|
|
{
|
||
|
|
throw std::runtime_error("Gain value must be between 0 and 255.");
|
||
|
|
}
|
||
|
|
gain = gainSetting;
|
||
|
|
});
|
||
|
|
|
||
|
|
int args_left = 0;
|
||
|
|
try
|
||
|
|
{
|
||
|
|
args_left = cmd_parser.ParseCmd(argc, argv);
|
||
|
|
}
|
||
|
|
catch (CmdParser::ArgumentError &e)
|
||
|
|
{
|
||
|
|
std::cerr << e.option() << ": " << e.what() << std::endl;
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
if (args_left == 1)
|
||
|
|
{
|
||
|
|
recording_filename = argv[argc - 1];
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
std::cout << "k4arecorder [options] output.mkv" << std::endl << std::endl;
|
||
|
|
cmd_parser.PrintOptions();
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (recording_rate == K4A_FRAMES_PER_SECOND_30 && (recording_depth_mode == K4A_DEPTH_MODE_WFOV_UNBINNED ||
|
||
|
|
recording_color_resolution == K4A_COLOR_RESOLUTION_3072P))
|
||
|
|
{
|
||
|
|
if (!recording_rate_set)
|
||
|
|
{
|
||
|
|
// Default to max supported frame rate
|
||
|
|
recording_rate = K4A_FRAMES_PER_SECOND_15;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
std::cerr << "Error: 30 Frames per second is not supported by this camera mode." << std::endl;
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (subordinate_delay_off_master_usec > 0 && wired_sync_mode != K4A_WIRED_SYNC_MODE_SUBORDINATE)
|
||
|
|
{
|
||
|
|
std::cerr << "--sync-delay is only valid if --external-sync is set to Subordinate." << std::endl;
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
#if defined(_WIN32)
|
||
|
|
SetConsoleCtrlHandler(
|
||
|
|
[](DWORD event) {
|
||
|
|
if (event == CTRL_C_EVENT || event == CTRL_BREAK_EVENT)
|
||
|
|
{
|
||
|
|
signal_handler(0);
|
||
|
|
return TRUE;
|
||
|
|
}
|
||
|
|
return FALSE;
|
||
|
|
},
|
||
|
|
true);
|
||
|
|
#else
|
||
|
|
struct sigaction act;
|
||
|
|
act.sa_handler = signal_handler;
|
||
|
|
sigemptyset(&act.sa_mask);
|
||
|
|
act.sa_flags = 0;
|
||
|
|
sigaction(SIGINT, &act, 0);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
k4a_device_configuration_t device_config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
|
||
|
|
device_config.color_format = recording_color_format;
|
||
|
|
device_config.color_resolution = recording_color_resolution;
|
||
|
|
device_config.depth_mode = recording_depth_mode;
|
||
|
|
device_config.camera_fps = recording_rate;
|
||
|
|
device_config.wired_sync_mode = wired_sync_mode;
|
||
|
|
device_config.depth_delay_off_color_usec = depth_delay_off_color_usec;
|
||
|
|
device_config.subordinate_delay_off_master_usec = subordinate_delay_off_master_usec;
|
||
|
|
|
||
|
|
return do_recording((uint8_t)device_index,
|
||
|
|
recording_filename,
|
||
|
|
recording_length,
|
||
|
|
&device_config,
|
||
|
|
recording_imu_enabled,
|
||
|
|
absoluteExposureValue,
|
||
|
|
gain);
|
||
|
|
}
|