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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#include <assert.h>
#include <k4a/k4a.h>
#include <math.h>
#include <atomic>
#include <csignal>
#include <ctime>
#include <iostream>
#include "open3d/Open3D.h"
using namespace open3d;
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > AzureKinectRecord [options]");
utility::LogInfo("Basic options:");
utility::LogInfo(" --help, -h : Print help information.");
utility::LogInfo(" --config : Config .json file (default: none)");
utility::LogInfo(" --list : List the currently connected K4A devices");
utility::LogInfo(" --device : Specify the device index to use (default: 0)");
utility::LogInfo(" --output : Output mkv file name (default: current_time.mkv)");
utility::LogInfo(" -a : Align depth with color image (default: disabled)");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char **argv) {
if (argc < 1 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
if (utility::ProgramOptionExists(argc, argv, "--list")) {
io::AzureKinectSensor::ListDevices();
return 0;
}
io::AzureKinectSensorConfig sensor_config;
if (utility::ProgramOptionExists(argc, argv, "--config")) {
auto config_filename =
utility::GetProgramOptionAsString(argc, argv, "--config", "");
bool success = io::ReadIJsonConvertibleFromJSON(config_filename,
sensor_config);
if (!success) {
utility::LogInfo("Invalid sensor config");
return 1;
}
} else {
utility::LogInfo("Use default sensor config");
}
int sensor_index =
utility::GetProgramOptionAsInt(argc, argv, "--device", 0);
if (sensor_index < 0 || sensor_index > 255) {
utility::LogWarning("Sensor index must between [0, 255]: {}",
sensor_index);
return 1;
}
bool enable_align_depth_to_color =
utility::ProgramOptionExists(argc, argv, "-a");
std::string recording_filename = utility::GetProgramOptionAsString(
argc, argv, "--output", utility::GetCurrentTimeStamp() + ".mkv");
utility::LogInfo("Prepare writing to {}", recording_filename);
// Init recorder
io::AzureKinectRecorder recorder(sensor_config, sensor_index);
if (!recorder.InitSensor()) {
utility::LogWarning("Failed to connect to sensor, abort.");
return 1;
}
bool flag_record = false;
bool flag_exit = false;
bool is_geometry_added = false;
visualization::VisualizerWithKeyCallback vis;
vis.RegisterKeyCallback(
GLFW_KEY_SPACE, [&](visualization::Visualizer *vis) {
if (flag_record) {
utility::LogInfo(
"Recording paused. "
"Press [SPACE] to continue. "
"Press [ESC] to save and exit.");
flag_record = false;
} else if (!recorder.IsRecordCreated()) {
if (recorder.OpenRecord(recording_filename)) {
utility::LogInfo(
"Recording started. "
"Press [SPACE] to pause. "
"Press [ESC] to save and exit.");
flag_record = true;
} // else flag_record keeps false
} else {
utility::LogInfo(
"Recording resumed, video may be discontinuous. "
"Press [SPACE] to pause. "
"Press [ESC] to save and exit.");
flag_record = true;
}
return false;
});
vis.RegisterKeyCallback(
GLFW_KEY_ESCAPE, [&](visualization::Visualizer *vis) {
flag_exit = true;
if (recorder.IsRecordCreated()) {
utility::LogInfo("Recording finished.");
} else {
utility::LogInfo("Nothing has been recorded.");
}
return false;
});
utility::LogInfo(
"In the visualizer window, "
"press [SPACE] to start recording, "
"press [ESC] to exit.");
vis.CreateVisualizerWindow("Open3D Azure Kinect Recorder", 1920, 540);
do {
auto im_rgbd =
recorder.RecordFrame(flag_record, enable_align_depth_to_color);
if (im_rgbd == nullptr) {
utility::LogDebug("Invalid capture, skipping this frame");
continue;
}
if (!is_geometry_added) {
vis.AddGeometry(im_rgbd);
is_geometry_added = true;
}
// Update visualizer
vis.UpdateGeometry();
vis.PollEvents();
vis.UpdateRender();
} while (!flag_exit);
recorder.CloseRecord();
return 0;
}
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