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Vendor K4A SDK at version 1.3.

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This adds the windows libs, adding the linux ones next.
This commit is contained in:
Amédée d'Aboville
2020-01-27 13:09:23 -05:00
parent 40a601299a
commit b8040516de
14 changed files with 7078 additions and 0 deletions
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vendor/include/k4a/k4a.h
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vendor/include/k4a/k4a.hpp
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vendor/include/k4a/k4a_export.h
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#ifndef K4A_EXPORT_H
#define K4A_EXPORT_H
#ifdef K4A_STATIC_DEFINE
# define K4A_EXPORT
# define K4A_NO_EXPORT
#else
# ifndef K4A_EXPORT
# ifdef k4a_EXPORTS
/* We are building this library */
# define K4A_EXPORT __declspec(dllexport)
# else
/* We are using this library */
# define K4A_EXPORT __declspec(dllimport)
# endif
# endif
# ifndef K4A_NO_EXPORT
# define K4A_NO_EXPORT
# endif
#endif
#ifndef K4A_DEPRECATED
# define K4A_DEPRECATED __declspec(deprecated)
#endif
#ifndef K4A_DEPRECATED_EXPORT
# define K4A_DEPRECATED_EXPORT K4A_EXPORT K4A_DEPRECATED
#endif
#ifndef K4A_DEPRECATED_NO_EXPORT
# define K4A_DEPRECATED_NO_EXPORT K4A_NO_EXPORT K4A_DEPRECATED
#endif
#if 0 /* DEFINE_NO_DEPRECATED */
# ifndef K4A_NO_DEPRECATED
# define K4A_NO_DEPRECATED
# endif
#endif
#endif /* K4A_EXPORT_H */
vendor/include/k4a/k4atypes.h
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vendor/include/k4a/k4aversion.h
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/* Copyright (c) Microsoft Corporation. All rights reserved.
Licensed under the MIT License. */
#ifndef K4AVERSION_H
#define K4AVERSION_H
#define K4A_VERSION_MAJOR 1
#define K4A_VERSION_MINOR 3
#define K4A_VERSION_PATCH 0
#define K4A_VERSION_PRERELEASE ""
#define K4A_VERSION_BUILD_METADATA ""
#define K4A_VERSION_STR "1.3.0"
#endif
vendor/include/k4arecord/k4arecord_export.h
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#ifndef K4ARECORD_EXPORT_H
#define K4ARECORD_EXPORT_H
#ifdef K4ARECORD_STATIC_DEFINE
# define K4ARECORD_EXPORT
# define K4ARECORD_NO_EXPORT
#else
# ifndef K4ARECORD_EXPORT
# ifdef k4arecord_EXPORTS
/* We are building this library */
# define K4ARECORD_EXPORT __declspec(dllexport)
# else
/* We are using this library */
# define K4ARECORD_EXPORT __declspec(dllimport)
# endif
# endif
# ifndef K4ARECORD_NO_EXPORT
# define K4ARECORD_NO_EXPORT
# endif
#endif
#ifndef K4ARECORD_DEPRECATED
# define K4ARECORD_DEPRECATED __declspec(deprecated)
#endif
#ifndef K4ARECORD_DEPRECATED_EXPORT
# define K4ARECORD_DEPRECATED_EXPORT K4ARECORD_EXPORT K4ARECORD_DEPRECATED
#endif
#ifndef K4ARECORD_DEPRECATED_NO_EXPORT
# define K4ARECORD_DEPRECATED_NO_EXPORT K4ARECORD_NO_EXPORT K4ARECORD_DEPRECATED
#endif
#if 0 /* DEFINE_NO_DEPRECATED */
# ifndef K4ARECORD_NO_DEPRECATED
# define K4ARECORD_NO_DEPRECATED
# endif
#endif
#endif /* K4ARECORD_EXPORT_H */
vendor/include/k4arecord/playback.h
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/** \file playback.h
* Copyright (c) Microsoft Corporation. All rights reserved.
* Licensed under the MIT License.
* Kinect For Azure Recording Playback SDK.
*/
#ifndef K4A_PLAYBACK_H
#define K4A_PLAYBACK_H
#include <k4arecord/types.h>
#include <k4arecord/k4arecord_export.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
*
* \addtogroup Functions
*
* @{
*/
/** Opens an existing recording file for reading.
*
* \param path
* Filesystem path of the existing recording.
*
* \param playback_handle
* If successful, this contains a pointer to the recording handle. Caller must call k4a_playback_close() when
* finished with the recording.
*
* \headerfile playback.h <k4arecord/playback.h>
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \relates k4a_playback_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_playback_open(const char *path, k4a_playback_t *playback_handle);
/** Get the raw calibration blob for the Azure Kinect device used during recording.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param data
* Location to write the calibration data to. This field may optionally be set to NULL if the caller wants to query for
* the needed data size.
*
* \param data_size
* On passing \p data_size into the function this variable represents the available size to write the raw data to. On
* return this variable is updated with the amount of data actually written to the buffer.
*
* \returns
* ::K4A_BUFFER_RESULT_SUCCEEDED if \p data was successfully written. If \p data_size points to a buffer size that is
* too small to hold the output, ::K4A_BUFFER_RESULT_TOO_SMALL is returned and \p data_size is updated to contain the
* minimum buffer size needed to capture the calibration data.
*
* \remarks
* The raw calibration may not exist if the device was not specified during recording.
*
* \relates k4a_playback_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_get_raw_calibration(k4a_playback_t playback_handle,
uint8_t *data,
size_t *data_size);
/** Get the camera calibration for Azure Kinect device used during recording. The output struct is used as input to all
* transformation functions.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param calibration
* Location to write the calibration.
*
* \returns
* ::K4A_RESULT_SUCCEEDED if \p calibration was successfully written. ::K4A_RESULT_FAILED otherwise.
*
* \remarks
* The calibration may not exist if the device was not specified during recording.
*
* \relates k4a_playback_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_playback_get_calibration(k4a_playback_t playback_handle,
k4a_calibration_t *calibration);
/** Get the device configuration used during recording.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param config
* Location to write the recording configuration.
*
* \returns
* ::K4A_RESULT_SUCCEEDED if \p config was successfully written. ::K4A_RESULT_FAILED otherwise.
*
* \relates k4a_playback_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_playback_get_record_configuration(k4a_playback_t playback_handle,
k4a_record_configuration_t *config);
/** Checks whether a track with the given track name exists in the playback file.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param track_name
* The track name to be checked to see whether it exists or not.
*
* \returns true if the track exists.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT bool k4a_playback_check_track_exists(k4a_playback_t playback_handle, const char *track_name);
/** Get the number of tracks in a playback file.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \returns the number of tracks in the playback file.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT size_t k4a_playback_get_track_count(k4a_playback_t playback_handle);
/** Gets the name of a track at a specific index.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param track_index
* The index of the track to read the name form.
*
* \param track_name
* Location to write the track name. This will be a UTF8 null terminated string. If a NULL buffer is specified,
* \p track_name_size will be set to the size of buffer needed to store the string.
*
* \param track_name_size
* On input, the size of the \p track_name buffer. On output, this is set to the length of the track_name value
* (including the null terminator).
*
* \returns
* A return of ::K4A_BUFFER_RESULT_SUCCEEDED means that the \p track_name has been filled in. If the buffer is too small
* the function returns ::K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the \p track_name buffer is returned in the
* \p track_name_size parameter. ::K4A_BUFFER_RESULT_FAILED is returned if the track index does not exist. All other
* failures return ::K4A_BUFFER_RESULT_FAILED.
*
* \remarks
* When used along with k4a_playback_get_track_count(), this function can be used to enumerate all the available tracks
* in a playback file. Additionally k4a_playback_track_is_builtin() can be used to filter custom tracks.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_get_track_name(k4a_playback_t playback_handle,
size_t track_index,
char *track_name,
size_t *track_name_size);
/** Checks whether a track is one of the built-in tracks: "COLOR", "DEPTH", etc...
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param track_name
* The track name to be checked to see whether it is a built-in track.
*
* \returns true if the track is built-in. If the provided track name does not exist, false will be returned.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT bool k4a_playback_track_is_builtin(k4a_playback_t playback_handle, const char *track_name);
/** Gets the video-specific track information for a particular video track.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param track_name
* The track name to read video settings from.
*
* \param video_settings
* Location to write the track's video settings.
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success, ::K4A_RESULT_FAILED is returned if the specified track does
* not exist or is not a video track.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_playback_track_get_video_settings(k4a_playback_t playback_handle,
const char *track_name,
k4a_record_video_settings_t *video_settings);
/** Gets the codec id string for a particular track.
*
* The codec ID is a string that corresponds to the codec of the track's data. Some of the existing formats are listed
* here: https://www.matroska.org/technical/specs/codecid/index.html. It can also be custom defined by the user.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param track_name
* The track name to read the codec id from.
*
* \param codec_id
* Location to write the codec id. This will be a UTF8 null terminated string. If a NULL buffer is specified,
* \p codec_id_size will be set to the size of buffer needed to store the string.
*
* \param codec_id_size
* On input, the size of the \p codec_id buffer. On output, this is set to the length of the codec_id value (including
* the null terminator).
*
* \returns
* A return of ::K4A_BUFFER_RESULT_SUCCEEDED means that the \p codec_id has been filled in. If the buffer is too small
* the function returns ::K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the \p codec_id buffer is returned in the
* \p codec_id_size parameter. ::K4A_BUFFER_RESULT_FAILED is returned if the track_name does not exist. All other
* failures return ::K4A_BUFFER_RESULT_FAILED.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_track_get_codec_id(k4a_playback_t playback_handle,
const char *track_name,
char *codec_id,
size_t *codec_id_size);
/** Gets the codec context for a particular track.
*
* The codec context is a codec-specific buffer that contains any required codec metadata that is only known to the
* codec. It is mapped to the matroska Codec Private field.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param track_name
* The track name to read the codec context from.
*
* \param codec_context
* Location to write the codec context data. If a NULL buffer is specified, \p codec_context_size will be set to the
* size of buffer needed to store the data.
*
* \param codec_context_size
* On input, the size of the \p codec_context buffer. On output, this is set to the length of the codec_context data.
*
* \returns
* A return of ::K4A_BUFFER_RESULT_SUCCEEDED means that the \p codec_context has been filled in. If the buffer is too
* small the function returns ::K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the \p codec_context buffer is
* returned in the \p codec_context_size parameter. ::K4A_BUFFER_RESULT_FAILED is returned if the track_name does not
* exist. All other failures return ::K4A_BUFFER_RESULT_FAILED.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_track_get_codec_context(k4a_playback_t playback_handle,
const char *track_name,
uint8_t *codec_context,
size_t *codec_context_size);
/** Read the value of a tag from a recording.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param name
* The name of the tag to read.
*
* \param value
* Location to write the tag value. This will be a UTF8 null terminated string. If a NULL buffer is specified,
* \p value_size will be set to the size of buffer needed to store the string.
*
* \param value_size
* On input, the size of the \p value buffer. On output, this is set to the length of the tag value (including the null
* terminator).
*
* \returns
* A return of ::K4A_BUFFER_RESULT_SUCCEEDED means that the \p value has been filled in. If the buffer is too small the
* function returns ::K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the \p value buffer is returned in the
* \p value_size parameter. ::K4A_BUFFER_RESULT_FAILED is returned if the tag does not exist. All other failures return
* ::K4A_BUFFER_RESULT_FAILED.
*
* \remarks
* Tags are global to a file, and should store data related to the entire recording, such as camera configuration or
* recording location.
*
* \relates k4a_playback_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_get_tag(k4a_playback_t playback_handle,
const char *name,
char *value,
size_t *value_size);
/** 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.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param target_format
* The target image format to be returned in captures.
*
* \returns
* ::K4A_RESULT_SUCCEEDED if the format conversion is supported. ::K4A_RESULT_FAILED otherwise.
*
* \remarks
* After the color conversion format is set, all \ref k4a_capture_t objects returned from the playback handle will have
* their color images converted to the \p target_format.
*
* \remarks
* Color format conversion occurs in the user-thread, so setting \p target_format to anything other than the format
* stored in the file may significantly increase the latency of \p k4a_playback_get_next_capture() and
* \p k4a_playback_get_previous_capture().
*
* \relates k4a_playback_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_playback_set_color_conversion(k4a_playback_t playback_handle,
k4a_image_format_t target_format);
/** Reads an attachment file from a recording.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param file_name
* The attachment file name.
*
* \param data
* Location to write the attachment data. If a NULL buffer is specified, \p data_size will be set to the size of
* buffer needed to store the data.
*
* \param data_size
* On input, the size of the \p data buffer. On output, this is set to the length of the attachment data.
*
* \returns
* A return of ::K4A_BUFFER_RESULT_SUCCEEDED means that the \p data has been filled in. If the buffer is too small the
* function returns ::K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the \p data buffer is returned in the
* \p data_size parameter. ::K4A_BUFFER_RESULT_FAILED is returned if the attachment \p file_name does not exist. All
* other failures return ::K4A_BUFFER_RESULT_FAILED.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_get_attachment(k4a_playback_t playback_handle,
const char *file_name,
uint8_t *data,
size_t *data_size);
/** Read the next capture in the recording sequence.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param capture_handle
* If successful this contains a handle to a capture object. Caller must call k4a_capture_release() when its done using
* this capture
*
* \returns
* ::K4A_STREAM_RESULT_SUCCEEDED if a capture is returned, or ::K4A_STREAM_RESULT_EOF if the end of the recording is
* reached. All other failures will return ::K4A_STREAM_RESULT_FAILED.
*
* \relates k4a_playback_t
*
* \remarks
* k4a_playback_get_next_capture() always returns the next capture in sequence after the most recently returned capture.
*
* \remarks
* The first call to k4a_playback_get_next_capture() after k4a_playback_seek_timestamp() will return the capture
* in the recording closest to the seek time with an image timestamp greater than or equal to the seek time.
*
* \remarks
* If a call was made to k4a_playback_get_previous_capture() that returned ::K4A_STREAM_RESULT_EOF, the playback
* position is at the beginning of the stream and k4a_playback_get_next_capture() will return the first capture in the
* recording.
*
* \remarks
* Capture objects returned by the playback API will always contain at least one image, but may have images missing if
* frames were dropped in the original recording. When calling k4a_capture_get_color_image(),
* k4a_capture_get_depth_image(), or k4a_capture_get_ir_image(), the image should be checked for NULL.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_next_capture(k4a_playback_t playback_handle,
k4a_capture_t *capture_handle);
/** Read the previous capture in the recording sequence.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param capture_handle
* If successful this contains a handle to a capture object. Caller must call k4a_capture_release() when its done using
* this capture.
*
* \returns
* ::K4A_STREAM_RESULT_SUCCEEDED if a capture is returned, or ::K4A_STREAM_RESULT_EOF if the start of the recording is
* reached. All other failures will return ::K4A_STREAM_RESULT_FAILED.
*
* \relates k4a_playback_t
*
* \remarks
* k4a_playback_get_previous_capture() always returns the previous capture in the sequence before the most
* recently returned capture.
*
* \remarks
* If a call was made to k4a_playback_get_next_capture() that returned ::K4A_STREAM_RESULT_EOF, the playback position
* is at the end of the stream and k4a_playback_get_previous_capture() will return the last capture in
* the recording.
*
* \remarks
* The first call to k4a_playback_get_previous_capture() after k4a_playback_seek_timestamp() will return the
* capture in the recording closest to the seek time with all image timestamps less than the seek time.
*
* \remarks
* Capture objects returned by this API will always contain at least one image, but may have images missing if frames
* were dropped in the original recording. When calling k4a_capture_get_color_image(), k4a_capture_get_depth_image(), or
* k4a_capture_get_ir_image(), the image should be checked for NULL.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_previous_capture(k4a_playback_t playback_handle,
k4a_capture_t *capture_handle);
/** Read the next IMU sample in the recording sequence.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param imu_sample
* The location to write the IMU sample.
*
* \returns
* ::K4A_STREAM_RESULT_SUCCEEDED if a sample is returned, or ::K4A_STREAM_RESULT_EOF if the end of the recording is
* reached. All other failures will return ::K4A_STREAM_RESULT_FAILED.
*
* \relates k4a_playback_t
*
* \remarks
* k4a_playback_get_next_imu_sample() always returns the IMU sample after the most recently returned sample.
*
* \remarks
* If a call was made to k4a_playback_get_previous_imu_sample() which returned ::K4A_STREAM_RESULT_EOF, then the
* playback position is at the beginning of the recording and k4a_playback_get_next_imu_sample() will return the first
* IMU sample in the recording.
*
* \remarks
* The first call to k4a_playback_get_next_imu_sample() after k4a_playback_seek_timestamp() will return the IMU
* sample in the recording closest to the seek time with a timestamp greater than or equal to the seek time.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_next_imu_sample(k4a_playback_t playback_handle,
k4a_imu_sample_t *imu_sample);
/** Read the previous IMU sample in the recording sequence.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param imu_sample [OUT]
* The location to write the IMU sample.
*
* \returns
* ::K4A_STREAM_RESULT_SUCCEEDED if a sample is returned, or ::K4A_STREAM_RESULT_EOF if the start of the recording is
* reached. All other failures will return ::K4A_STREAM_RESULT_FAILED.
*
* \relates k4a_playback_t
*
* \remarks
* k4a_playback_get_previous_imu_sample() always returns the IMU sample before the most recently returned sample.
*
* \remarks
* If a call was made to to k4a_playback_get_next_imu_sample() which returned ::K4A_STREAM_RESULT_EOF, then the playback
* position is at the end of the recording and k4a_playback_get_previous_imu_sample() will return the last IMU sample in
* the recording.
*
* \remarks
* The first call to k4a_playback_get_previous_imu_sample() after k4a_playback_seek_timestamp() will return the
* IMU sample closest to the seek time with a timestamp less than the seek time.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_previous_imu_sample(k4a_playback_t playback_handle,
k4a_imu_sample_t *imu_sample);
/** Read the next data block for a particular track.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param track_name
* The name of the track to read the next data block from.
*
* \param data_block_handle
* The location to write the data block handle.
*
* \returns
* ::K4A_STREAM_RESULT_SUCCEEDED if a data block is returned, or ::K4A_STREAM_RESULT_EOF if the end of the recording is
* reached. All other failures will return ::K4A_STREAM_RESULT_FAILED.
*
* \relates k4a_playback_t
*
* \remarks
* k4a_playback_get_next_data_block() always returns the data block after the most recently returned data block for a
* particular track.
*
* \remarks
* If a call was made to k4a_playback_get_previous_data_block() which returned ::K4A_STREAM_RESULT_EOF, then the
* playback position is at the beginning of the recording and calling k4a_playback_get_next_data_block() with the same
* track will return the first data block in the track.
*
* \remarks
* The first call to k4a_playback_get_next_data_block() after k4a_playback_seek_timestamp() will return the data
* block in the recording closest to the seek time with a timestamp greater than or equal to the seek time.
*
* \remarks
* k4a_playback_get_next_data_block() cannot be used with the built-in tracks: "COLOR", "DEPTH", etc...
* k4a_playback_track_is_builtin() can be used to determine if a track is a built-in track.
*
* \remarks
* If the call is successful, callers must call k4a_playback_data_block_release() to return the allocated memory for
* data_block_handle.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_next_data_block(k4a_playback_t playback_handle,
const char *track_name,
k4a_playback_data_block_t *data_block_handle);
/** Read the previous data block for a particular track.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param track_name
* The name of the track to read the previous data block from.
*
* \param data_block_handle
* The location to write the data block.
*
* \returns
* ::K4A_STREAM_RESULT_SUCCEEDED if a sample is returned, or ::K4A_STREAM_RESULT_EOF if the start of the recording is
* reached. All other failures will return ::K4A_STREAM_RESULT_FAILED.
*
* \relates k4a_playback_t
*
* \remarks
* k4a_playback_get_previous_data_block() always returns the data block before the most recently returned data block for
* a particular track.
*
* \remarks
* If a call was made to to k4a_playback_get_next_data_block() which returned ::K4A_STREAM_RESULT_EOF, then the playback
* position is at the end of the recording and calling k4a_playback_get_previous_data_block() with the same track will
* return the last data block in the track.
*
* \remarks
* The first call to k4a_playback_get_previous_data_block() after k4a_playback_seek_timestamp() will return the
* data block closest to the seek time with a timestamp less than the seek time.
*
* \remarks
* If the call is successful, callers must call k4a_playback_data_block_release() to return the allocated memory for
* data_block_handle.
*
* \remarks
* k4a_playback_get_previous_data_block() cannot be used with the built-in tracks: "COLOR", "DEPTH", etc...
* k4a_playback_track_is_builtin() can be used to determine if a track is a built-in track.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_previous_data_block(k4a_playback_t playback_handle,
const char *track_name,
k4a_playback_data_block_t *data_block_handle);
/** Get the device timestamp of a data block in microseconds.
*
* \param data_block_handle
* Handle obtained by k4a_playback_get_next_data_block() or k4a_playback_get_previous_data_block().
*
* \returns
* Returns the device timestamp of the data block. If the \p data_block_handle is invalid this function will return 0.
* It is also possible for 0 to be a valid timestamp originating from when a device was first powered on.
*
* \relates k4a_playback_data_block_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT uint64_t
k4a_playback_data_block_get_device_timestamp_usec(k4a_playback_data_block_t data_block_handle);
/** Get the buffer size of a data block.
*
* \param data_block_handle
* Handle obtained by k4a_playback_get_next_data_block() or k4a_playback_get_previous_data_block().
*
* \returns
* Returns the buffer size of the data block, or 0 if the data block is invalid.
*
* \relates k4a_playback_data_block_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT size_t k4a_playback_data_block_get_buffer_size(k4a_playback_data_block_t data_block_handle);
/** Get the buffer of a data block.
*
* \param data_block_handle
* Handle obtained by k4a_playback_get_next_data_block() or k4a_playback_get_previous_data_block().
*
* \remarks
* Use this buffer to access the data written to a custom recording track.
*
* \returns
* Returns a pointer to the data block buffer, or NULL if the data block is invalid.
*
* \relates k4a_playback_data_block_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT uint8_t *k4a_playback_data_block_get_buffer(k4a_playback_data_block_t data_block_handle);
/** Release a data block handle.
*
* \param data_block_handle
* Handle obtained by k4a_playback_get_next_data_block() or k4a_playback_get_previous_data_block().
*
* \remarks
* Release the memory of a data block. The caller must not access the object after it is released.
*
* \relates k4a_playback_data_block_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT void k4a_playback_data_block_release(k4a_playback_data_block_t data_block_handle);
/** Seek to a specific timestamp within a recording.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \param offset_usec
* The timestamp offset to seek to, relative to \p origin
*
* \param origin
* Specifies how the given timestamp should be interpreted. Seek can be done relative to the beginning or end of the
* recording, or using an absolute device timestamp.
*
* \returns
* ::K4A_RESULT_SUCCEEDED if the seek operation was successful, or ::K4A_RESULT_FAILED if an error occured. The current
* seek position is left unchanged if a failure is returned.
*
* \relates k4a_playback_t
*
* \remarks
* The first device timestamp in a recording is usually non-zero. The recording file starts at the device timestamp
* defined by start_timestamp_offset_usec, which is accessible via k4a_playback_get_record_configuration().
*
* \remarks
* The first call to k4a_playback_get_next_capture() after k4a_playback_seek_timestamp() will return the first capture
* containing an image timestamp greater than or equal to the seek time.
*
* \remarks
* The first call to k4a_playback_get_previous_capture() after k4a_playback_seek_timestamp() will return the first
* capture with all image timestamps less than the seek time.
*
* \remarks
* The first call to k4a_playback_get_next_imu_sample() after k4a_playback_seek_timestamp() will return the first imu
* sample with a timestamp greter than or equal to the seek time.
*
* \remarks
* The first call to k4a_playback_get_previous_imu_sample() after k4a_playback_seek_timestamp() will return the first
* imu sample with a timestamp less than the seek time.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_playback_seek_timestamp(k4a_playback_t playback_handle,
int64_t offset_usec,
k4a_playback_seek_origin_t origin);
/** Returns the length of the recording in microseconds.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \returns
* The recording length, calculated as the difference between the first and last timestamp in the file.
*
* \relates k4a_playback_t
*
* \remarks
* The recording length may be longer than an individual track if, for example, the IMU continues to run after the last
* color image is recorded.
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT uint64_t k4a_playback_get_recording_length_usec(k4a_playback_t playback_handle);
/** Gets the last timestamp in a recording, relative to the start of the recording.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \returns
* The file timestamp of the last capture image or IMU sample in microseconds.
*
* \relates k4a_playback_t
*
* \remarks
* This function returns a file timestamp, not an absolute device timestamp, meaning it is relative to the start of the
* recording. This function is equivalent to the length of the recording.
*
* \deprecated
* Deprecated starting in 1.2.0. Please use k4a_playback_get_recording_length_usec().
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_DEPRECATED_EXPORT uint64_t k4a_playback_get_last_timestamp_usec(k4a_playback_t playback_handle);
/** Closes a recording playback handle.
*
* \param playback_handle
* Handle obtained by k4a_playback_open().
*
* \headerfile playback.h <k4arecord/playback.h>
*
* \relates k4a_playback_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">playback.h (include k4arecord/playback.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT void k4a_playback_close(k4a_playback_t playback_handle);
/**
* @}
*/
#ifdef __cplusplus
} // extern "C"
#endif
#endif /* K4A_PLAYBACK_H */
vendor/include/k4arecord/playback.hpp
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/** \file playback.hpp
* Copyright (c) Microsoft Corporation. All rights reserved.
* Licensed under the MIT License.
* Kinect For Azure SDK - C++ wrapper.
*/
#ifndef K4A_PLAYBACK_HPP
#define K4A_PLAYBACK_HPP
#include <k4a/k4a.hpp>
#include <k4arecord/playback.h>
#include <algorithm>
#include <chrono>
#include <string>
#include <vector>
namespace k4a
{
/** \class playback playback.hpp
* Wrapper for \ref k4a_playback_t
*
* Wraps a handle for a playback object
*
* \sa k4a_playback_t
*/
class playback
{
public:
/** Creates a k4a::playback from a k4a_playback_t
* Takes ownership of the handle, i.e. you should not call
* k4a_playback_close on the handle after giving it to the
* k4a::playback; the k4a::playback will take care of that.
*/
playback(k4a_playback_t handle = nullptr) noexcept : m_handle(handle) {}
/** Moves another k4a::playback into a new k4a::playback
*/
playback(playback &&other) noexcept : m_handle(other.m_handle)
{
other.m_handle = nullptr;
}
playback(const playback &) = delete;
~playback()
{
close();
}
playback &operator=(const playback &) = delete;
/** Moves another k4a::playback into this k4a::playback; other is set to invalid
*/
playback &operator=(playback &&other) noexcept
{
if (this != &other)
{
close();
m_handle = other.m_handle;
other.m_handle = nullptr;
}
return *this;
}
/** Returns true if the k4a::playback is valid, false otherwise
*/
operator bool() const noexcept
{
return m_handle != nullptr;
}
/** Closes a K4A recording.
*
* \sa k4a_playback_close
*/
void close() noexcept
{
if (m_handle != nullptr)
{
k4a_playback_close(m_handle);
m_handle = nullptr;
}
}
/** Get the raw calibration blob for the K4A device that made the recording.
* Throws error on failure.
*
* \sa k4a_playback_get_raw_calibration
*/
std::vector<uint8_t> get_raw_calibration() const
{
std::vector<uint8_t> calibration;
size_t buffer = 0;
k4a_buffer_result_t result = k4a_playback_get_raw_calibration(m_handle, &calibration[0], &buffer);
if (result == K4A_BUFFER_RESULT_TOO_SMALL && buffer > 1)
{
calibration.resize(buffer);
result = k4a_playback_get_raw_calibration(m_handle, &calibration[0], &buffer);
}
if (result != K4A_BUFFER_RESULT_SUCCEEDED)
{
throw error("Failed to read raw device calibration from recording!");
}
return calibration;
}
/** Get the camera calibration for the K4A device that made the recording, which is used for all transformation
* functions. Throws error on failure.
*
* \sa k4a_playback_get_calibration
*/
calibration get_calibration() const
{
calibration calib;
k4a_result_t result = k4a_playback_get_calibration(m_handle, &calib);
if (K4A_RESULT_SUCCEEDED != result)
{
throw error("Failed to read device calibration from recording!");
}
return calib;
}
/** Gets the configuration of the recording
*
* \sa k4a_playback_get_record_configuration
*/
k4a_record_configuration_t get_record_configuration() const
{
k4a_record_configuration_t config;
k4a_result_t result = k4a_playback_get_record_configuration(m_handle, &config);
if (K4A_RESULT_SUCCEEDED != result)
{
throw error("Failed to read record configuration!");
}
return config;
}
/** Get the next capture in the recording
* Returns true if a capture was available, false if there are none left
* Throws error on failure.
*
* \sa k4a_playback_get_next_capture
*/
bool get_next_capture(capture *cap)
{
k4a_capture_t capture_handle;
k4a_stream_result_t result = k4a_playback_get_next_capture(m_handle, &capture_handle);
if (K4A_STREAM_RESULT_SUCCEEDED == result)
{
*cap = capture(capture_handle);
return true;
}
else if (K4A_STREAM_RESULT_EOF == result)
{
return false;
}
throw error("Failed to get next capture!");
}
/** Get the next capture in the recording
* Returns true if a capture was available, false if there are none left
* Throws error on failure.
*
* \sa k4a_playback_get_previous_capture
*/
bool get_previous_capture(capture *cap)
{
k4a_capture_t capture_handle;
k4a_stream_result_t result = k4a_playback_get_previous_capture(m_handle, &capture_handle);
if (K4A_STREAM_RESULT_SUCCEEDED == result)
{
*cap = capture(capture_handle);
return true;
}
else if (K4A_STREAM_RESULT_EOF == result)
{
return false;
}
throw error("Failed to get next capture!");
}
/** Reads the value of a tag from the recording
* Returns false if the tag does not exist.
*
* \sa k4a_playback_get_tag
*/
bool get_tag(const char *name, std::string *out) const
{
std::string tag;
size_t buffer = 0;
k4a_buffer_result_t result = k4a_playback_get_tag(m_handle, name, &tag[0], &buffer);
if (result == K4A_BUFFER_RESULT_TOO_SMALL && buffer > 0)
{
tag.resize(buffer);
result = k4a_playback_get_tag(m_handle, name, &tag[0], &buffer);
if (result == K4A_BUFFER_RESULT_SUCCEEDED && tag[buffer - 1] == 0)
{
// std::string expects there to not be as null terminator at the end of its data but
// k4a_playback_get_tag adds a null terminator, so we drop the last character of the string after we
// get the result back.
tag.resize(buffer - 1);
}
}
if (result != K4A_BUFFER_RESULT_SUCCEEDED)
{
return false;
}
*out = std::move(tag);
return true;
}
/** Get the next IMU sample in the recording
* Returns true if a sample was available, false if there are none left
* Throws error on failure.
*
* \sa k4a_playback_get_next_imu_sample
*/
bool get_next_imu_sample(k4a_imu_sample_t *sample)
{
k4a_stream_result_t result = k4a_playback_get_next_imu_sample(m_handle, sample);
if (K4A_STREAM_RESULT_SUCCEEDED == result)
{
return true;
}
else if (K4A_STREAM_RESULT_EOF == result)
{
return false;
}
throw error("Failed to get next IMU sample!");
}
/** Get the previous IMU sample in the recording
* Returns true if a sample was available, false if there are none left
* Throws error on failure.
*
* \sa k4a_playback_get_previous_imu_sample
*/
bool get_previous_imu_sample(k4a_imu_sample_t *sample)
{
k4a_stream_result_t result = k4a_playback_get_previous_imu_sample(m_handle, sample);
if (K4A_STREAM_RESULT_SUCCEEDED == result)
{
return true;
}
else if (K4A_STREAM_RESULT_EOF == result)
{
return false;
}
throw error("Failed to get previous IMU sample!");
}
/** Seeks to a specific time point in the recording
* Throws error on failure.
*
* \sa k4a_playback_seek_timestamp
*/
void seek_timestamp(std::chrono::microseconds offset, k4a_playback_seek_origin_t origin)
{
k4a_result_t result = k4a_playback_seek_timestamp(m_handle, offset.count(), origin);
if (K4A_RESULT_SUCCEEDED != result)
{
throw error("Failed to seek recording!");
}
}
/** 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!");
}
}
/** 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
vendor/include/k4arecord/record.h
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/** \file record.h
* Copyright (c) Microsoft Corporation. All rights reserved.
* Licensed under the MIT License.
* Kinect For Azure Recording SDK.
*/
#ifndef K4A_RECORD_H
#define K4A_RECORD_H
#include <k4arecord/types.h>
#include <k4arecord/k4arecord_export.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
*
* \addtogroup Functions
*
* @{
*/
/** Opens a new recording file for writing.
*
* \param path
* Filesystem path for the new recording.
*
* \param device
* The Azure Kinect device that is being recorded. The device handle is used to store device calibration and serial
* number information. May be NULL if recording user-generated data.
*
* \param device_config
* The configuration the Azure Kinect device was started with.
*
* \param recording_handle
* If successful, this contains a pointer to the new recording handle. Caller must call k4a_record_close()
* when finished with recording.
*
* \remarks
* The file will be created if it doesn't exist, or overwritten if an existing file is specified.
*
* \remarks
* Streaming does not need to be started on the device at the time this function is called, but when it is started
* it should be started with the same configuration provided in \p device_config.
*
* \remarks
* Subsequent calls to k4a_record_write_capture() will need to have images in the resolution and format defined
* in \p device_config.
*
* \headerfile record.h <k4arecord/record.h>
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \relates k4a_record_t
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_create(const char *path,
k4a_device_t device,
const k4a_device_configuration_t device_config,
k4a_record_t *recording_handle);
/** Adds a tag to the recording.
*
* \param recording_handle
* The handle of a new recording, obtained by k4a_record_create().
*
* \param name
* The name of the tag to write.
*
* \param value
* The string value to store in the tag.
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success.
*
* \remarks
* Tags are global to a file, and should store data related to the entire recording, such as camera configuration or
* recording location.
*
* \remarks
* Tag names must be ALL CAPS and may only contain A-Z, 0-9, '-' and '_'.
*
* \remarks
* All tags need to be added before the recording header is written.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_add_tag(k4a_record_t recording_handle, const char *name, const char *value);
/** Adds the track header for recording IMU.
*
* \param recording_handle
* The handle of a new recording, obtained by k4a_record_create().
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \remarks
* The track needs to be added before the recording header is written.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_add_imu_track(k4a_record_t recording_handle);
/** Adds an attachment to the recording.
*
* \param recording_handle
* The handle of a new recording, obtained by k4a_record_create().
*
* \param attachment_name
* The name of the attachment to be stored in the recording file. This name should be a valid filename with an
* extension.
*
* \param buffer
* The attachment data buffer.
*
* \param buffer_size
* The size of the attachment data buffer.
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \remarks
* All attachments need to be added before the recording header is written.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_add_attachment(const k4a_record_t recording_handle,
const char *attachment_name,
const uint8_t *buffer,
size_t buffer_size);
/** Adds custom video tracks to the recording.
*
* \param recording_handle
* The handle of a new recording, obtained by k4a_record_create().
*
* \param track_name
* The name of the custom video track to be added.
*
* \param codec_id
* A UTF8 null terminated string containing the codec ID of the track. Some of the existing formats are listed here:
* https://www.matroska.org/technical/specs/codecid/index.html. The codec ID can also be custom defined by the user.
* Video codec ID's should start with 'V_'.
*
* \param codec_context
* The codec context is a codec-specific buffer that contains any required codec metadata that is only known to the
* codec. It is mapped to the matroska 'CodecPrivate' element.
*
* \param codec_context_size
* The size of the codec context buffer.
*
* \param track_settings
* Additional metadata for the video track such as resolution and framerate.
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \remarks
* Built-in video tracks like the DEPTH, IR, and COLOR tracks will be created automatically when the k4a_record_create()
* API is called. This API can be used to add additional video tracks to save custom data.
*
* \remarks
* Track names must be ALL CAPS and may only contain A-Z, 0-9, '-' and '_'.
*
* \remarks
* All tracks need to be added before the recording header is written.
*
* \remarks
* Call k4a_record_write_custom_track_data() with the same track_name to write data to this track.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_add_custom_video_track(const k4a_record_t recording_handle,
const char *track_name,
const char *codec_id,
const uint8_t *codec_context,
size_t codec_context_size,
const k4a_record_video_settings_t *track_settings);
/** Adds custom subtitle tracks to the recording.
*
* \param recording_handle
* The handle of a new recording, obtained by k4a_record_create().
*
* \param track_name
* The name of the custom subtitle track to be added.
*
* \param codec_id
* A UTF8 null terminated string containing the codec ID of the track. Some of the existing formats are listed here:
* https://www.matroska.org/technical/specs/codecid/index.html. The codec ID can also be custom defined by the user.
* Subtitle codec ID's should start with 'S_'.
*
* \param codec_context
* The codec context is a codec-specific buffer that contains any required codec metadata that is only known to the
* codec. It is mapped to the matroska 'CodecPrivate' element.
*
* \param codec_context_size
* The size of the codec context buffer.
*
* \param track_settings
* Additional metadata for the subtitle track. If NULL, the default settings will be used.
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \remarks
* Built-in subtitle tracks like the IMU track will be created automatically when the k4a_record_add_imu_track() API is
* called. This API can be used to add additional subtitle tracks to save custom data.
*
* \remarks
* Track names must be ALL CAPS and may only contain A-Z, 0-9, '-' and '_'.
*
* \remarks
* All tracks need to be added before the recording header is written.
*
* \remarks
* Call k4a_record_write_custom_track_data() with the same track_name to write data to this track.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t
k4a_record_add_custom_subtitle_track(const k4a_record_t recording_handle,
const char *track_name,
const char *codec_id,
const uint8_t *codec_context,
size_t codec_context_size,
const k4a_record_subtitle_settings_t *track_settings);
/** Writes the recording header and metadata to file.
*
* \param recording_handle
* The handle of a new recording, obtained by k4a_record_create().
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \remarks
* This must be called before captures or any track data can be written.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_write_header(k4a_record_t recording_handle);
/** Writes a camera capture to file.
*
* \param recording_handle
* The handle of a new recording, obtained by k4a_record_create().
*
* \param capture_handle
* The handle of a capture to write to file.
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \remarks
* Captures must be written in increasing order of timestamp, and the file's header must already be written.
*
* \remarks
* k4a_record_write_capture() will write all images in the capture to the corresponding tracks in the recording file.
* If any of the images fail to write, other images will still be written before a failure is returned.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_write_capture(k4a_record_t recording_handle, k4a_capture_t capture_handle);
/** Writes an imu sample to file.
*
* \param recording_handle
* The handle of a new recording, obtained by k4a_record_create().
*
* \param imu_sample
* A structure containing the imu sample data and timestamps.
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \remarks
* Samples must be written in increasing order of timestamp, and the file's header must already be written.
*
* \remarks
* When writing imu samples at the same time as captures, the samples should be within 1 second of the most recently
* written capture.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_write_imu_sample(k4a_record_t recording_handle, k4a_imu_sample_t imu_sample);
/** Writes data for a custom track to file.
*
* \param recording_handle
* The handle of a new recording, obtained by k4a_record_create().
*
* \param track_name
* The name of the custom track that the data is going to be written to.
*
* \param device_timestamp_usec
* The timestamp in microseconds for the custom track data. This timestamp should be in the same time domain as the
* device timestamp used for recording.
*
* \param custom_data
* The buffer of custom track data.
*
* \param custom_data_size
* The size of the custom track data buffer.
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success
*
* \remarks
* Custom track data must be written in increasing order of timestamp, and the file's header must already be written.
* When writing custom track data at the same time as captures or IMU data, the custom data should be within 1 second of
* the most recently written timestamp.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_write_custom_track_data(const k4a_record_t recording_handle,
const char *track_name,
uint64_t device_timestamp_usec,
uint8_t *custom_data,
size_t custom_data_size);
/** Flushes all pending recording data to disk.
*
* \param recording_handle
* Handle obtained by k4a_record_create().
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \returns ::K4A_RESULT_SUCCEEDED is returned on success, or ::K4A_RESULT_FAILED if an error occurred.
*
* \remarks
* k4a_record_flush() ensures that all data passed to the recording API prior to calling flush is written to disk.
* If continuing to write recording data, care must be taken to ensure no new timestamps are added from before the
* flush.
*
* \remarks
* If an error occurs, best effort is made to flush as much data to disk as possible, but the integrity of the file is
* not guaranteed.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT k4a_result_t k4a_record_flush(k4a_record_t recording_handle);
/** Closes a recording handle.
*
* \param recording_handle
* Handle obtained by k4a_record_create().
*
* \headerfile record.h <k4arecord/record.h>
*
* \relates k4a_record_t
*
* \remarks
* If there is any unwritten data it will be flushed to disk before closing the recording.
*
* \xmlonly
* <requirements>
* <requirement name="Header">record.h (include k4arecord/record.h)</requirement>
* <requirement name="Library">k4arecord.lib</requirement>
* <requirement name="DLL">k4arecord.dll</requirement>
* </requirements>
* \endxmlonly
*/
K4ARECORD_EXPORT void k4a_record_close(k4a_record_t recording_handle);
/**
* @}
*/
#ifdef __cplusplus
} // extern "C"
#endif
#endif /* K4A_RECORD_H */
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/** \file types.h
* Copyright (c) Microsoft Corporation. All rights reserved.
* Licensed under the MIT License.
* Kinect For Azure Playback/Record type definitions.
*/
#ifndef K4ARECORD_TYPES_H
#define K4ARECORD_TYPES_H
#include <k4a/k4atypes.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* \addtogroup Handles
* @{
*/
/** \class k4a_record_t types.h <k4arecord/types.h>
* Handle to a k4a recording opened for writing.
*
* \remarks
* Handles are created with k4a_record_create(), and closed with k4a_record_close().
* Invalid handles are set to 0.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
K4A_DECLARE_HANDLE(k4a_record_t);
/** \class k4a_playback_t types.h <k4arecord/types.h>
* Handle to a k4a recording opened for playback.
*
* \remarks
* Handles are created with k4a_playback_open(), and closed with k4a_playback_close().
* Invalid handles are set to 0.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
K4A_DECLARE_HANDLE(k4a_playback_t);
/** \class k4a_playback_data_block_t types.h <k4arecord/types.h>
* Handle to a block of data read from a k4a_playback_t custom track.
*
* \remarks
* Handles are obtained from k4a_playback_get_next_data_block() or k4a_playback_get_previous_data_block(), and released
* with k4a_playback_data_block_release(). Invalid handles are set to 0.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
K4A_DECLARE_HANDLE(k4a_playback_data_block_t)
/**
* @}
*
* \addtogroup Definitions
* @{
*/
/** Name of the built-in color track used in recordings.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
#define K4A_TRACK_NAME_COLOR "COLOR"
/** Name of the built-in depth track used in recordings.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
#define K4A_TRACK_NAME_DEPTH "DEPTH"
/** Name of the built-in IR track used in recordings.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
#define K4A_TRACK_NAME_IR "IR"
/** Name of the built-in imu track used in recordings.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
#define K4A_TRACK_NAME_IMU "IMU"
/**
* @}
*
* \addtogroup Enumerations
* @{
*/
/** Return codes returned by Azure Kinect playback API.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
typedef enum
{
K4A_STREAM_RESULT_SUCCEEDED = 0, /**< The result was successful. */
K4A_STREAM_RESULT_FAILED, /**< The result was a failure. */
K4A_STREAM_RESULT_EOF, /**< The end of the data stream was reached. */
} k4a_stream_result_t;
/** Playback seeking positions.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
typedef enum
{
K4A_PLAYBACK_SEEK_BEGIN, /**< Seek relative to the beginning of a recording. */
K4A_PLAYBACK_SEEK_END, /**< Seek relative to the end of a recording. */
K4A_PLAYBACK_SEEK_DEVICE_TIME /**< Seek to an absolute device timestamp. */
} k4a_playback_seek_origin_t;
/**
* @}
*
* \addtogroup Structures
* @{
*/
/** Structure containing the device configuration used to record.
*
* \see k4a_device_configuration_t
* \see k4a_playback_get_record_configuration()
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
typedef struct _k4a_record_configuration_t
{
/** Image format used to record the color camera. */
k4a_image_format_t color_format;
/** Image resolution used to record the color camera. */
k4a_color_resolution_t color_resolution;
/** Mode used to record the depth camera. */
k4a_depth_mode_t depth_mode;
/** Frame rate used to record the color and depth camera. */
k4a_fps_t camera_fps;
/** True if the recording contains Color camera frames. */
bool color_track_enabled;
/** True if the recording contains Depth camera frames. */
bool depth_track_enabled;
/** True if the recording contains IR camera frames. */
bool ir_track_enabled;
/** True if the recording contains IMU sample data. */
bool imu_track_enabled;
/**
* The delay between color and depth images in the recording.
* A negative delay means depth images are first, and a positive delay means color images are first.
*/
int32_t depth_delay_off_color_usec;
/** External synchronization mode */
k4a_wired_sync_mode_t wired_sync_mode;
/**
* The delay between this recording and the externally synced master camera.
* This value is 0 unless \p wired_sync_mode is set to ::K4A_WIRED_SYNC_MODE_SUBORDINATE
*/
uint32_t subordinate_delay_off_master_usec;
/**
* The timestamp offset of the start of the recording. All recorded timestamps are offset by this value such that
* the recording starts at timestamp 0. This value can be used to synchronize timestamps between 2 recording files.
*/
uint32_t start_timestamp_offset_usec;
} k4a_record_configuration_t;
/** Structure containing additional metadata specific to custom video tracks.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
typedef struct _k4a_record_video_settings_t
{
uint64_t width; /**< Frame width of the video */
uint64_t height; /**< Frame height of the video */
uint64_t frame_rate; /**< Frame rate (frames-per-second) of the video */
} k4a_record_video_settings_t;
/** Structure containing additional metadata specific to custom subtitle tracks.
*
* \xmlonly
* <requirements>
* <requirement name="Header">types.h (include k4arecord/types.h)</requirement>
* </requirements>
* \endxmlonly
*/
typedef struct _k4a_record_subtitle_settings_t
{
/**
* If true, data will be grouped together in batches to reduce overhead. In this mode, only a single timestamp will
* be stored per batch, and an estimated timestamp will be used by k4a_playback_seek_timestamp() and
* k4a_playback_data_block_get_timestamp_usec(). The estimated timestamp is calculated with the assumption that
* blocks are evenly spaced within a batch. If precise timestamps are required, the timestamp should be added to
* each data block itself.
*
* If false, data will be stored as individual blocks with full timestamp information (Default).
*/
bool high_freq_data;
} k4a_record_subtitle_settings_t;
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* K4ARECORD_TYPES_H */
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