Open3D (C++ API)  0.15.1
RSBagReader.h
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26
27#pragma once
28
29#include <atomic>
30#include <condition_variable>
31#include <string>
32#include <thread>
33#include <unordered_map>
34#include <vector>
35
39
40// Forward declarations for librealsense classes
41namespace rs2 {
42class pipeline;
43} // namespace rs2
44
45namespace open3d {
46namespace t {
47namespace io {
48
68public:
69 static const size_t DEFAULT_BUFFER_SIZE = 32;
70
75 explicit RSBagReader(size_t buffer_size = DEFAULT_BUFFER_SIZE);
76
77 RSBagReader(const RSBagReader &) = delete;
78 RSBagReader &operator=(const RSBagReader &) = delete;
79 virtual ~RSBagReader();
80
82 virtual bool IsOpened() const override { return is_opened_; }
83
85 virtual bool IsEOF() const override;
86
90 virtual bool Open(const std::string &filename) override;
91
93 virtual void Close() override;
94
96 virtual const RGBDVideoMetadata &GetMetadata() const override {
97 return metadata_;
98 }
99
101 virtual RGBDVideoMetadata &GetMetadata() override { return metadata_; }
102
106 virtual bool SeekTimestamp(uint64_t timestamp) override;
107
109 virtual uint64_t GetTimestamp() const override;
110
112 virtual t::geometry::RGBDImage NextFrame() override;
113
115 virtual std::string GetFilename() const override { return filename_; };
116
119
120private:
121 std::string filename_;
122 RGBDVideoMetadata metadata_;
123
124 std::atomic<bool> is_eof_{false}; // Write by frame_reader_thread.
125 std::atomic<bool> is_opened_{false}; // Read by frame_reader_thread.
135 std::vector<t::geometry::RGBDImage> frame_buffer_;
136 std::vector<uint64_t>
137 frame_position_us_;
138 static const size_t BUFFER_REFILL_FACTOR =
139 4;
140 std::atomic<uint64_t> head_fid_{
141 0};
142 std::atomic<uint64_t> tail_fid_{0};
143 std::atomic<uint64_t> seek_to_{UINT64_MAX};
144 std::condition_variable need_frames_;
150 void fill_frame_buffer();
151 std::thread frame_reader_thread_;
152
153 std::unique_ptr<rs2::pipeline> pipe_;
154
155 Json::Value GetMetadataJson();
156 std::string GetTagInMetadata(const std::string &tag_name);
157};
158} // namespace io
159} // namespace t
160} // namespace open3d
RGBDImage A pair of color and depth images.
Definition: RGBDImage.h:40
RGBD video metadata.
Definition: RGBDVideoMetadata.h:45
Definition: RGBDVideoReader.h:37
virtual void SaveFrames(const std::string &frame_path, uint64_t start_time_us=0, uint64_t end_time_us=UINT64_MAX)
Definition: RGBDVideoReader.cpp:51
virtual std::string ToString() const
Text description.
Definition: RGBDVideoReader.cpp:40
Definition: RSBagReader.h:67
virtual bool Open(const std::string &filename) override
Definition: RSBagReader.cpp:60
virtual bool IsEOF() const override
Check if the RSBag file is all read.
Definition: RSBagReader.cpp:183
RSBagReader(size_t buffer_size=DEFAULT_BUFFER_SIZE)
Definition: RSBagReader.cpp:51
RSBagReader & operator=(const RSBagReader &)=delete
static const size_t DEFAULT_BUFFER_SIZE
Definition: RSBagReader.h:69
virtual bool IsOpened() const override
Check If the RSBag file is opened.
Definition: RSBagReader.h:82
virtual ~RSBagReader()
Definition: RSBagReader.cpp:56
virtual t::geometry::RGBDImage NextFrame() override
Copy next frame from the bag file and return the RGBDImage object.
Definition: RSBagReader.cpp:185
virtual uint64_t GetTimestamp() const override
Get current timestamp (in us).
Definition: RSBagReader.cpp:227
virtual RGBDVideoMetadata & GetMetadata() override
Get reference to the metadata of the RGBD video playback.
Definition: RSBagReader.h:101
virtual void Close() override
Close the opened RSBag playback.
Definition: RSBagReader.cpp:93
virtual bool SeekTimestamp(uint64_t timestamp) override
Definition: RSBagReader.cpp:208
virtual const RGBDVideoMetadata & GetMetadata() const override
Get (read-only) metadata of the playback.
Definition: RSBagReader.h:96
virtual std::string GetFilename() const override
Return filename being read.
Definition: RSBagReader.h:115
RSBagReader(const RSBagReader &)=delete
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample uint64_t
Definition: K4aPlugin.cpp:362
Definition: PinholeCameraIntrinsic.cpp:35
Definition: RealSenseSensor.h:36