Open3D (C++ API)  0.17.0
RSBagReader.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <atomic>
11#include <condition_variable>
12#include <string>
13#include <thread>
14#include <unordered_map>
15#include <vector>
16
20
21// Forward declarations for librealsense classes
22namespace rs2 {
23class pipeline;
24} // namespace rs2
25
26namespace open3d {
27namespace t {
28namespace io {
29
49public:
50 static const size_t DEFAULT_BUFFER_SIZE = 32;
51
56 explicit RSBagReader(size_t buffer_size = DEFAULT_BUFFER_SIZE);
57
58 RSBagReader(const RSBagReader &) = delete;
59 RSBagReader &operator=(const RSBagReader &) = delete;
60 virtual ~RSBagReader();
61
63 virtual bool IsOpened() const override { return is_opened_; }
64
66 virtual bool IsEOF() const override;
67
71 virtual bool Open(const std::string &filename) override;
72
74 virtual void Close() override;
75
77 virtual const RGBDVideoMetadata &GetMetadata() const override {
78 return metadata_;
79 }
80
82 virtual RGBDVideoMetadata &GetMetadata() override { return metadata_; }
83
87 virtual bool SeekTimestamp(uint64_t timestamp) override;
88
90 virtual uint64_t GetTimestamp() const override;
91
93 virtual t::geometry::RGBDImage NextFrame() override;
94
96 virtual std::string GetFilename() const override { return filename_; };
97
100
101private:
102 std::string filename_;
103 RGBDVideoMetadata metadata_;
104
105 std::atomic<bool> is_eof_{false}; // Write by frame_reader_thread.
106 std::atomic<bool> is_opened_{false}; // Read by frame_reader_thread.
116 std::vector<t::geometry::RGBDImage> frame_buffer_;
117 std::vector<uint64_t>
118 frame_position_us_;
119 static const size_t BUFFER_REFILL_FACTOR =
120 4;
121 std::atomic<uint64_t> head_fid_{
122 0};
123 std::atomic<uint64_t> tail_fid_{0};
124 std::atomic<uint64_t> seek_to_{UINT64_MAX};
125 std::condition_variable need_frames_;
131 void fill_frame_buffer();
132 std::thread frame_reader_thread_;
133
134 std::unique_ptr<rs2::pipeline> pipe_;
135
136 Json::Value GetMetadataJson();
137 std::string GetTagInMetadata(const std::string &tag_name);
138};
139} // namespace io
140} // namespace t
141} // namespace open3d
RGBDImage A pair of color and depth images.
Definition: RGBDImage.h:21
RGBD video metadata.
Definition: RGBDVideoMetadata.h:26
Definition: RGBDVideoReader.h:18
virtual void SaveFrames(const std::string &frame_path, uint64_t start_time_us=0, uint64_t end_time_us=UINT64_MAX)
Definition: RGBDVideoReader.cpp:33
virtual std::string ToString() const
Text description.
Definition: RGBDVideoReader.cpp:22
Definition: RSBagReader.h:48
virtual bool Open(const std::string &filename) override
Definition: RSBagReader.cpp:41
virtual bool IsEOF() const override
Check if the RSBag file is all read.
Definition: RSBagReader.cpp:164
RSBagReader(size_t buffer_size=DEFAULT_BUFFER_SIZE)
Definition: RSBagReader.cpp:32
RSBagReader & operator=(const RSBagReader &)=delete
static const size_t DEFAULT_BUFFER_SIZE
Definition: RSBagReader.h:50
virtual bool IsOpened() const override
Check If the RSBag file is opened.
Definition: RSBagReader.h:63
virtual ~RSBagReader()
Definition: RSBagReader.cpp:37
virtual t::geometry::RGBDImage NextFrame() override
Copy next frame from the bag file and return the RGBDImage object.
Definition: RSBagReader.cpp:166
virtual uint64_t GetTimestamp() const override
Get current timestamp (in us).
Definition: RSBagReader.cpp:208
virtual RGBDVideoMetadata & GetMetadata() override
Get reference to the metadata of the RGBD video playback.
Definition: RSBagReader.h:82
virtual void Close() override
Close the opened RSBag playback.
Definition: RSBagReader.cpp:74
virtual bool SeekTimestamp(uint64_t timestamp) override
Definition: RSBagReader.cpp:189
virtual const RGBDVideoMetadata & GetMetadata() const override
Get (read-only) metadata of the playback.
Definition: RSBagReader.h:77
virtual std::string GetFilename() const override
Return filename being read.
Definition: RSBagReader.h:96
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:343
Definition: PinholeCameraIntrinsic.cpp:16
Definition: RealSenseSensor.h:17