MKVWriter.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "io/sensor/azure_kinect/MKVWriter.h"
 
#include <k4a/k4a.h>
#include <k4arecord/playback.h>
#include <k4arecord/record.h>
 
#include "io/sensor/azure_kinect/K4aPlugin.h"
 
namespace cloudViewer {
namespace io {
 
using namespace cloudViewer;
 
MKVWriter::MKVWriter() : handle_(nullptr) {}
 
bool MKVWriter::Open(const std::string &filename,
                     const _k4a_device_configuration_t &config,
                     k4a_device_t device) {
    if (IsOpened()) {
        Close();
    }
 
    if (K4A_RESULT_SUCCEEDED != k4a_plugin::k4a_record_create(filename.c_str(),
                                                              device, config,
                                                              &handle_)) {
        utility::LogWarning("Unable to open file {}", filename);
        return false;
    }
 
    return true;
}
 
bool MKVWriter::IsOpened() { return handle_ != nullptr; }
 
bool MKVWriter::SetMetadata(const MKVMetadata &metadata) {
    metadata_ = metadata;
 
    if (K4A_RESULT_SUCCEEDED != k4a_plugin::k4a_record_write_header(handle_)) {
        utility::LogWarning("Unable to write header");
        return false;
    }
    return true;
}
 
void MKVWriter::Close() {
    if (K4A_RESULT_SUCCEEDED != k4a_plugin::k4a_record_flush(handle_)) {
        utility::LogWarning("Unable to flush before writing");
    }
    k4a_plugin::k4a_record_close(handle_);
}
 
bool MKVWriter::NextFrame(k4a_capture_t capture) {
    if (!IsOpened()) {
        utility::LogWarning("Null file handler. Please call Open().");
        return false;
    }
 
    if (K4A_RESULT_SUCCEEDED !=
        k4a_plugin::k4a_record_write_capture(handle_, capture)) {
        utility::LogWarning("Unable to write frame to mkv.");
        return false;
    }
 
    return true;
}
}  // namespace io
}  // namespace cloudViewer