forked from IntelRealSense/librealsense
-
Notifications
You must be signed in to change notification settings - Fork 0
/
record_device.h
84 lines (69 loc) · 3.79 KB
/
record_device.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#pragma once
#include <core/roi.h>
#include <core/extension.h>
#include <core/serialization.h>
#include "core/streaming.h"
#include "archive.h"
#include "concurrency.h"
#include "sensor.h"
#include "record_sensor.h"
namespace librealsense
{
class record_device : public device_interface,
public extendable_interface,
public info_container
{
public:
static const uint64_t MAX_CACHED_DATA_SIZE = 1920 * 1080 * 4 * 30; // ~1 sec of HD video @ 30 FPS
record_device(std::shared_ptr<device_interface> device, std::shared_ptr<device_serializer::writer> serializer);
virtual ~record_device();
std::shared_ptr<context> get_context() const override;
sensor_interface& get_sensor(size_t i) override;
size_t get_sensors_count() const override;
const std::string& get_info(rs2_camera_info info) const override;
bool supports_info(rs2_camera_info info) const override;
const sensor_interface& get_sensor(size_t i) const override;
void hardware_reset() override;
bool extend_to(rs2_extension extension_type, void** ext) override;
virtual std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
void pause_recording();
void resume_recording();
const std::string& get_filename() const;
platform::backend_device_group get_device_data() const override;
std::pair<uint32_t, rs2_extrinsics> get_extrinsics(const stream_interface& stream) const override;
bool is_valid() const override;
std::vector<tagged_profile> get_profiles_tags() const override { return m_device->get_profiles_tags(); };
void tag_profile(stream_profile_interface* profile) const override { m_device->tag_profile(profile); }
private:
template <typename T> void write_device_extension_changes(const T& ext);
template <rs2_extension E, typename P> bool extend_to_aux(std::shared_ptr<P> p, void** ext);
void write_header();
std::chrono::nanoseconds get_capture_time() const;
void write_data(size_t sensor_index, frame_holder f, std::function<void(std::string const&)> on_error);
void write_sensor_extension_snapshot(size_t sensor_index, rs2_extension ext, std::shared_ptr<extension_snapshot> snapshot, std::function<void(std::string const&)> on_error);
void write_notification(size_t sensor_index, const notification& n);
std::vector<std::shared_ptr<record_sensor>> create_record_sensors(std::shared_ptr<device_interface> m_device);
template <typename T> device_serializer::snapshot_collection get_extensions_snapshots(T* extendable);
template <typename T, typename Ext> void try_add_snapshot(T* extendable, device_serializer::snapshot_collection& snapshots);
std::shared_ptr<device_interface> m_device;
std::vector<std::shared_ptr<record_sensor>> m_sensors;
lazy<std::shared_ptr<dispatcher>> m_write_thread;
std::shared_ptr<device_serializer::writer> m_ros_writer;
std::chrono::high_resolution_clock::time_point m_capture_time_base;
std::chrono::high_resolution_clock::duration m_record_pause_time;
std::chrono::high_resolution_clock::time_point m_time_of_pause;
std::mutex m_mutex;
bool m_is_recording;
std::once_flag m_first_frame_flag;
int m_on_notification_token;
int m_on_frame_token;
int m_on_extension_change_token;
uint64_t m_cached_data_size;
std::once_flag m_first_call_flag;
void initialize_recording();
void stop_gracefully(to_string error_msg);
};
MAP_EXTENSION(RS2_EXTENSION_RECORD, record_device);
}