AzureKinectRecorder.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <atomic>
#include <memory>
#include <string>
 
#include "open3d/io/sensor/RGBDRecorder.h"
#include "open3d/io/sensor/azure_kinect/AzureKinectSensor.h"
#include "open3d/io/sensor/azure_kinect/AzureKinectSensorConfig.h"
 
struct _k4a_record_t;  // typedef _k4a_record_t* k4a_record_t;
 
namespace open3d {
 
namespace geometry {
class RGBDImage;
class Image;
}  // namespace geometry
 
namespace io {

class AzureKinectRecorder : public RGBDRecorder {
public:
    AzureKinectRecorder(const AzureKinectSensorConfig& sensor_config,
                        size_t sensor_index);
    ~AzureKinectRecorder() override;

    bool InitSensor() override;
    bool OpenRecord(const std::string& filename) override;
    bool CloseRecord() override;
    std::shared_ptr<geometry::RGBDImage> RecordFrame(
            bool write, bool enable_align_depth_to_color) override;

    bool IsRecordCreated() { return is_record_created_; }
 
protected:
    AzureKinectSensor sensor_;
    _k4a_record_t* recording_;
    size_t device_index_;
 
    bool is_record_created_ = false;
};
 
}  // namespace io
}  // namespace open3d