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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/geometry/RGBDImage.h"
#include "open3d/io/sensor/azure_kinect/AzureKinectRecorder.h"
#include "open3d/io/sensor/azure_kinect/AzureKinectSensor.h"
#include "open3d/io/sensor/azure_kinect/AzureKinectSensorConfig.h"
#include "open3d/io/sensor/azure_kinect/MKVReader.h"
#include "pybind/docstring.h"
#include "pybind/io/io.h"
namespace open3d {
namespace io {
void pybind_sensor(py::module &m) {
static const std::unordered_map<std::string, std::string>
map_shared_argument_docstrings = {
{"sensor_index", "The selected device index."},
{"config", "AzureKinectSensor's config file."},
{"timestamp", "Timestamp in the video (usec)."},
{"filename", "Path to the mkv file."},
{"enable_record", "Enable recording to mkv file."},
{"enable_align_depth_to_color",
"Enable aligning WFOV depth image to the color image in "
"visualizer."}};
// Class kinect config
py::class_<AzureKinectSensorConfig> azure_kinect_sensor_config(
m, "AzureKinectSensorConfig", "AzureKinect sensor configuration.");
py::detail::bind_default_constructor<AzureKinectSensorConfig>(
azure_kinect_sensor_config);
azure_kinect_sensor_config.def(
py::init([](const std::unordered_map<std::string, std::string>
&config) {
return new AzureKinectSensorConfig(config);
}),
"config"_a);
py::class_<MKVMetadata> azure_kinect_mkv_metadata(
m, "AzureKinectMKVMetadata", "AzureKinect mkv metadata.");
py::detail::bind_default_constructor<MKVMetadata>(
azure_kinect_mkv_metadata);
azure_kinect_mkv_metadata
.def_readwrite("width", &MKVMetadata::width_, "Width of the video")
.def_readwrite("height", &MKVMetadata::height_,
"Height of the video")
.def_readwrite("stream_length_usec",
&MKVMetadata::stream_length_usec_,
"Length of the video (usec)");
// Class sensor
py::class_<AzureKinectSensor> azure_kinect_sensor(m, "AzureKinectSensor",
"AzureKinect sensor.");
azure_kinect_sensor.def(
py::init([](const AzureKinectSensorConfig &sensor_config) {
return new AzureKinectSensor(sensor_config);
}),
"sensor_config"_a);
azure_kinect_sensor
.def("connect", &AzureKinectSensor::Connect, "sensor_index"_a,
"Connect to specified device.")
.def("disconnect", &AzureKinectSensor::Disconnect,
"Disconnect from the connected device.")
.def("capture_frame", &AzureKinectSensor::CaptureFrame,
"enable_align_depth_to_color"_a, "Capture an RGBD frame.")
.def_static("list_devices", &AzureKinectSensor::ListDevices,
"List available Azure Kinect devices");
docstring::ClassMethodDocInject(m, "AzureKinectSensor", "connect",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectSensor", "capture_frame",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectSensor", "list_devices",
map_shared_argument_docstrings);
// Class recorder
py::class_<AzureKinectRecorder> azure_kinect_recorder(
m, "AzureKinectRecorder", "AzureKinect recorder.");
azure_kinect_recorder.def(
py::init([](const AzureKinectSensorConfig &sensor_config,
size_t sensor_index) {
return new AzureKinectRecorder(sensor_config, sensor_index);
}),
"sensor_config"_a, "sensor_index"_a);
azure_kinect_recorder
.def("init_sensor", &AzureKinectRecorder::InitSensor,
"Initialize sensor.")
.def("is_record_created", &AzureKinectRecorder::IsRecordCreated,
"Check if the mkv file is created.")
.def("open_record", &AzureKinectRecorder::OpenRecord, "filename"_a,
"Attempt to create and open an mkv file.")
.def("close_record", &AzureKinectRecorder::CloseRecord,
"Close the recorded mkv file.")
.def("record_frame", &AzureKinectRecorder::RecordFrame,
"enable_record"_a, "enable_align_depth_to_color"_a,
"Record a frame to mkv if flag is on and return an RGBD "
"object.");
docstring::ClassMethodDocInject(m, "AzureKinectRecorder", "init_sensor",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectRecorder",
"is_record_created",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectRecorder", "open_record",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectRecorder", "close_record",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectRecorder", "record_frame",
map_shared_argument_docstrings);
// Class mkv reader
py::class_<MKVReader> azure_kinect_mkv_reader(
m, "AzureKinectMKVReader", "AzureKinect mkv file reader.");
azure_kinect_mkv_reader.def(py::init([]() { return MKVReader(); }));
azure_kinect_mkv_reader
.def("is_opened", &MKVReader::IsOpened,
"Check if the mkv file is opened.")
.def("open", &MKVReader::Open, "filename"_a,
"Open an mkv playback.")
.def("close", &MKVReader::Close, "Close the opened mkv playback.")
.def("is_eof", &MKVReader::IsEOF,
"Check if the mkv file is all read.")
.def("get_metadata", &MKVReader::GetMetadata,
"Get metadata of the mkv playback.")
.def("seek_timestamp", &MKVReader::SeekTimestamp, "timestamp"_a,
"Seek to the timestamp (in us).")
.def("next_frame", &MKVReader::NextFrame,
"Get next frame from the mkv playback and returns the RGBD "
"object.");
docstring::ClassMethodDocInject(m, "AzureKinectMKVReader", "open",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectMKVReader", "close",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectMKVReader", "is_eof",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectMKVReader", "get_metadata",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectMKVReader", "seek_timestamp",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "AzureKinectMKVReader", "next_frame",
map_shared_argument_docstrings);
}
} // namespace io
} // namespace open3d
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