ACloudViewer  3.9.4
A Modern Library for 3D Data Processing
Public Member Functions | Protected Attributes | List of all members
cloudViewer::io::AzureKinectRecorder Class Reference

#include <AzureKinectRecorder.h>

Inheritance diagram for cloudViewer::io::AzureKinectRecorder:
Inheritance graph
[legend]
Collaboration diagram for cloudViewer::io::AzureKinectRecorder:
Collaboration graph
[legend]

Public Member Functions

 AzureKinectRecorder (const AzureKinectSensorConfig &sensor_config, size_t sensor_index)
 
 ~AzureKinectRecorder () override
 
bool InitSensor () override
 Initialize sensor. More...
 
bool OpenRecord (const std::string &filename) override
 
bool CloseRecord () override
 Close the recorded mkv file. More...
 
std::shared_ptr< geometry::RGBDImage > RecordFrame (bool write, bool enable_align_depth_to_color) override
 
bool IsRecordCreated ()
 Check if the mkv file is created. More...
 
- Public Member Functions inherited from cloudViewer::io::RGBDRecorder
 RGBDRecorder ()
 
virtual ~RGBDRecorder ()
 

Protected Attributes

AzureKinectSensor sensor_
 
_k4a_record_t * recording_
 
size_t device_index_
 
bool is_record_created_ = false
 

Detailed Description

AzureKinect recorder.

Definition at line 32 of file AzureKinectRecorder.h.

Constructor & Destructor Documentation

◆ AzureKinectRecorder()

cloudViewer::io::AzureKinectRecorder::AzureKinectRecorder ( const AzureKinectSensorConfig &  sensor_config,
size_t  sensor_index 
)

Definition at line 35 of file AzureKinectRecorder.cpp.

◆ ~AzureKinectRecorder()

cloudViewer::io::AzureKinectRecorder::~AzureKinectRecorder ( )
override

Definition at line 41 of file AzureKinectRecorder.cpp.

References CloseRecord().

Member Function Documentation

◆ CloseRecord()

bool cloudViewer::io::AzureKinectRecorder::CloseRecord ( )
overridevirtual

Close the recorded mkv file.

Implements cloudViewer::io::RGBDRecorder.

Definition at line 68 of file AzureKinectRecorder.cpp.

References is_record_created_, cloudViewer::io::k4a_plugin::k4a_record_close(), cloudViewer::io::k4a_plugin::k4a_record_flush(), LogInfo, LogWarning, and recording_.

Referenced by cloudViewer::io::pybind_sensor(), and ~AzureKinectRecorder().

◆ InitSensor()

bool cloudViewer::io::AzureKinectRecorder::InitSensor ( )
overridevirtual

Initialize sensor.

Implements cloudViewer::io::RGBDRecorder.

Definition at line 43 of file AzureKinectRecorder.cpp.

References cloudViewer::io::AzureKinectSensor::Connect(), device_index_, and sensor_.

Referenced by cloudViewer::io::pybind_sensor().

◆ IsRecordCreated()

bool cloudViewer::io::AzureKinectRecorder::IsRecordCreated ( )
inline

Check if the mkv file is created.

Definition at line 55 of file AzureKinectRecorder.h.

References is_record_created_.

Referenced by cloudViewer::io::pybind_sensor().

◆ OpenRecord()

bool cloudViewer::io::AzureKinectRecorder::OpenRecord ( const std::string &  filename)
overridevirtual

Attempt to create and open an mkv file.

Parameters
filenamePath to the mkv file.

Implements cloudViewer::io::RGBDRecorder.

Definition at line 47 of file AzureKinectRecorder.cpp.

References cloudViewer::io::AzureKinectSensorConfig::ConvertToNativeConfig(), cloudViewer::io::AzureKinectSensor::device_, filename, is_record_created_, cloudViewer::io::k4a_plugin::k4a_record_create(), cloudViewer::io::k4a_plugin::k4a_record_write_header(), LogInfo, LogWarning, recording_, sensor_, and cloudViewer::io::AzureKinectSensor::sensor_config_.

Referenced by cloudViewer::io::pybind_sensor().

◆ RecordFrame()

std::shared_ptr< geometry::RGBDImage > cloudViewer::io::AzureKinectRecorder::RecordFrame ( bool  write,
bool  enable_align_depth_to_color 
)
overridevirtual

Record a frame to mkv if flag is on and return an RGBD object.

Parameters
writeEnable recording to mkv file.
enable_align_depth_to_colorEnable aligning WFOV depth image to the color image in visualizer.

Implements cloudViewer::io::RGBDRecorder.

Definition at line 83 of file AzureKinectRecorder.cpp.

References cloudViewer::io::AzureKinectSensor::CaptureRawFrame(), cloudViewer::io::AzureKinectSensor::DecompressCapture(), is_record_created_, cloudViewer::io::k4a_plugin::k4a_capture_release(), cloudViewer::io::k4a_plugin::k4a_record_write_capture(), LogError, LogInfo, recording_, sensor_, and cloudViewer::io::AzureKinectSensor::transform_depth_to_color_.

Referenced by cloudViewer::io::pybind_sensor().

Member Data Documentation

◆ device_index_

size_t cloudViewer::io::AzureKinectRecorder::device_index_
protected

Definition at line 60 of file AzureKinectRecorder.h.

Referenced by InitSensor().

◆ is_record_created_

bool cloudViewer::io::AzureKinectRecorder::is_record_created_ = false
protected

Definition at line 62 of file AzureKinectRecorder.h.

Referenced by CloseRecord(), IsRecordCreated(), OpenRecord(), and RecordFrame().

◆ recording_

_k4a_record_t* cloudViewer::io::AzureKinectRecorder::recording_
protected

Definition at line 59 of file AzureKinectRecorder.h.

Referenced by CloseRecord(), OpenRecord(), and RecordFrame().

◆ sensor_

AzureKinectSensor cloudViewer::io::AzureKinectRecorder::sensor_
protected

Definition at line 58 of file AzureKinectRecorder.h.

Referenced by InitSensor(), OpenRecord(), and RecordFrame().

The documentation for this class was generated from the following files: