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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.
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Amédée d'Aboville
2020-01-27 13:09:23 -05:00
parent 40a601299a
commit b8040516de
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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