Merge pull request #4 from zshahaf/master

Recorder from zshahaf

CMake/realsense.def

@@ -156,4 +156,11 @@ EXPORTS
     rs2_get_census
     rs2_advanced_mode_preset_to_string
     rs2_is_enabled
-    rs2_toggle_advanced_mode
+    rs2_toggle_advanced_mode
+
+    rs2_create_device_serializer
+    rs2_delete_device_serializer
+    rs2_create_record_device 
+    rs2_create_playback_device 
+    rs2_record_device_pause
+    rs2_record_device_resume

CMakeLists.txt

@@ -122,16 +122,20 @@ set(REALSENSE_CPP
     src/win/win-usb.cpp
     src/win/win-hid.cpp
     src/win/win-backend.cpp
+
     rs400/rs400_advanced_mode/src/rs2_advanced_mode.cpp
+    rs400/rs400_advanced_mode/src/presets.cpp
+    rs400/rs400_advanced_mode/src/advanced_mode.cpp
 
     third-party/easyloggingpp/src/easylogging++.cc
-
     third-party/sqlite/sqlite3.c
+
     src/mock/sql.cpp
     src/mock/recorder.cpp
 
-    rs400/rs400_advanced_mode/src/presets.cpp
-    rs400/rs400_advanced_mode/src/advanced_mode.cpp
+    src/record_device.cpp
+    src/playback_device.cpp
+    src/playback_sensor.cpp
 )
 
 set(REALSENSE_HPP
@@ -192,11 +196,48 @@ set(REALSENSE_HPP
     src/win/win-hid.h
     src/win/win-backend.h
     src/api.h
+    src/core/advanced_mode.h
+    src/core/serialization.h
+
+    src/record_device.h
+    src/playback_device.h
+    src/playback_sensor.h
+    src/serializers/ros_device_serializer.h
+    src/serializers/ros_reader.h
+    src/serializers/ros_device_serializer_writer.h
 
     third-party/easyloggingpp/src/easylogging++.h
     third-party/sqlite/sqlite3.h
     src/mock/sql.h
     src/mock/recorder.h
+
+    src/ros/data_objects/pose.h
+    src/ros/data_objects/vendor_data.h
+    src/ros/data_objects/image.h
+    src/ros/data_objects/motion_stream_info.h
+    src/ros/data_objects/property.h
+    src/ros/data_objects/log.h
+    src/ros/data_objects/motion_sample.h
+    src/ros/data_objects/time_sample.h
+    src/ros/data_objects/compressed_image.h
+    src/ros/data_objects/occupancy_map.h
+    src/ros/data_objects/stream_data.h
+    src/ros/data_objects/image_stream_info.h
+    src/ros/stream_playback.h
+    src/ros/file_types.h
+    src/ros/status.h
+    src/ros/stream_playback.h
+    src/ros/ros_writer.h
+    src/ros/stream_playback.cpp
+    src/ros/topic.h
+)
+
+# Add additional include directories to allow file to include rosbag headers
+include(${CMAKE_CURRENT_LIST_DIR}/third-party/realsense-file/3rd_party/config.cmake)
+include_directories(
+        ${ROSBAG_HEADER_DIRS}
+        ${BOOST_INCLUDE_PATH}
+        ${LZ4_INCLUDE_PATH}
 )
 
 if(WIN32)

bindings/python/pybackend.cpp

@@ -23,7 +23,7 @@
 namespace py = pybind11;
 using namespace pybind11::literals;
 
-using namespace rsimpl2;
+using namespace librealsense;
 using namespace pybackend2;
 
 // Prevents expensive copies of pixel buffers into python

bindings/python/pybackend_extras.cpp

@@ -1,7 +1,7 @@
 #include "pybackend_extras.h"
 #include <cinttypes>
 
-using namespace rsimpl2;
+using namespace librealsense;
 
 #define STB_IMAGE_WRITE_IMPLEMENTATION
 #include "../examples/third_party/stb_image_write.h"

bindings/python/pybackend_extras.h

@@ -1,6 +1,6 @@
 #include "../src/types.h"
 
-using namespace rsimpl2;
+using namespace librealsense;
 
 namespace pybackend2 {
     enum class command

examples/CMakeLists.txt

@@ -62,3 +62,4 @@ add_subdirectory(capture)
 #add_subdirectory(headless)
 add_subdirectory(multicam)
 add_subdirectory(pointcloud)
+add_subdirectory(recording)

examples/capture/rs-capture.cpp

@@ -16,7 +16,6 @@ using namespace std;
 int main(int argc, char * argv[])
 {
     context ctx;
-
     util::device_hub hub(ctx);
 
     auto finished = false;

examples/recording/CMakeLists.txt

@@ -0,0 +1,36 @@
+# ubuntu 16.04 LTS cmake version 3.5.1
+cmake_minimum_required(VERSION 2.8.3)
+
+project(RealsenseExamplesRecording)
+
+# Save the command line compile commands in the build output
+set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c11")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+else()
+    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+# recording-sample
+add_executable(rs-recording rs-recording.cpp)
+target_link_libraries(rs-recording ${DEPENDENCIES})
+include_directories(rs-recording ../../third-party/tclap/include)
+set_target_properties (rs-recording PROPERTIES
+        FOLDER Examples
+        )
+
+install(
+    TARGETS
+
+    rs-recording
+
+    RUNTIME DESTINATION
+    ${CMAKE_INSTALL_PREFIX}/bin
+)

examples/recording/readme.md

@@ -0,0 +1 @@
+# Readme (TODO)

examples/recording/rs-recording.cpp

@@ -0,0 +1,103 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+
+#include <librealsense/rs2.hpp>
+#include <iostream>
+#include <iomanip>
+#include <core/streaming.h> //TODO: remove
+#include <sensor.h>
+#include <record_device.h>
+
+#include "tclap/CmdLine.h"
+
+using namespace std;
+using namespace TCLAP;
+using namespace rs2;
+
+int main(int argc, const char** argv) try
+{
+    CmdLine cmd("librealsense cpp-record example", ' ', RS2_API_VERSION_STR);
+    ValueArg<std::string> file_path("f", "file_path", "File path for recording output", false, "record_example.bag", "string");
+    cmd.add( file_path );
+    cmd.parse(argc, argv);
+
+    std::cout << "Recording to file: " << file_path.getValue() << std::endl;
+
+    context ctx;
+    auto devices = ctx.query_devices();
+    if (devices.size() == 0)
+    {
+        std::cerr << "No device connected" << std::endl;
+        return EXIT_FAILURE;
+    }
+    //Create a recorder from the device
+    //recorder device(file_path.getValue(), devices[0]);
+    playback device(file_path.getValue());
+    //From this point on we use the record_device and not the (live) device
+
+    std::cout << "Device: " << device.get_info(RS2_CAMERA_INFO_NAME) << std::endl;
+
+    //Declare profiles we want to play
+    const std::vector<rs2::stream_profile> profiles_to_play_if_available{
+        rs2::stream_profile{ RS2_STREAM_DEPTH, 640, 480, 30, RS2_FORMAT_Z16 },
+        rs2::stream_profile{ RS2_STREAM_INFRARED, 640, 480, 30, RS2_FORMAT_Y8 },
+        rs2::stream_profile{ RS2_STREAM_FISHEYE, 640, 480, 30, RS2_FORMAT_RAW8 },
+        rs2::stream_profile{ RS2_STREAM_COLOR, 640, 480, 30, RS2_FORMAT_RGBA8 }
+    };
+
+    std::vector<sensor> m_playing_sensors; //will hold the sensors that are playing
+    int sensor_id = 0;
+    //Go over the sensors and open start streaming
+    for (auto&& sensor : device.query_sensors())
+    {
+        sensor_id++;
+        if (sensor.supports(RS2_CAMERA_INFO_NAME))
+        {
+            std::cout << "Sensor #" << sensor_id << ": " << sensor.get_info(RS2_CAMERA_INFO_NAME) << std::endl;
+        }
+
+        std::vector<rs2::stream_profile> profiles_to_play_for_this_sensor;
+        for (auto profile : sensor.get_stream_modes())
+        {
+            if (std::find(std::begin(profiles_to_play_if_available), 
+                std::end(profiles_to_play_if_available), profile) != std::end(profiles_to_play_if_available))
+            {
+                profiles_to_play_for_this_sensor.push_back(profile);
+            }
+
+        }
+        if (profiles_to_play_for_this_sensor.empty())
+        {
+            //This sensor does not support any of the requested profiles
+            continue;
+        }
+        sensor.open(profiles_to_play_for_this_sensor);
+        sensor.start([](rs2::frame f) {
+            std::cout << rs2_stream_to_string(f.get_stream_type()) << " frame #" << f.get_frame_number() <<  std::endl;
+        });
+        m_playing_sensors.push_back(sensor);
+        try
+        {
+            roi_sensor x(sensor);
+        }
+        catch (const std::exception& e)
+        {
+            std::cout << e.what() << std::endl;
+        }
+    }
+    getchar();
+    //std::this_thread::sleep_for(std::chrono::seconds(5));
+
+    for(auto sensor : m_playing_sensors)
+    {
+        sensor.stop();
+        sensor.close();
+    }
+
+    return 0;
+}
+catch (const rs2::error & e)
+{
+    cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << endl;
+    return EXIT_FAILURE;
+}

include/librealsense/rs2.h

@@ -39,6 +39,7 @@ typedef enum rs2_exception_type
     RS2_EXCEPTION_TYPE_WRONG_API_CALL_SEQUENCE,  /**< Function precondition was violated */
     RS2_EXCEPTION_TYPE_NOT_IMPLEMENTED,          /**< The method is not implemented at this point */
     RS2_EXCEPTION_TYPE_DEVICE_IN_RECOVERY_MODE,  /**< Device is in recovery mode and might require firmware update */
+    RS2_EXCEPTION_TYPE_IO,                       /**< IO Device failure */
     RS2_EXCEPTION_TYPE_COUNT                     /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
 } rs2_exception_type;
 
@@ -211,11 +212,11 @@ typedef enum rs2_timestamp_domain
 
 typedef enum rs2_extension_type
 {
+    RS2_EXTENSION_TYPE_UNKNOWN, 
     RS2_EXTENSION_TYPE_DEBUG,
     RS2_EXTENSION_TYPE_INFO,
     RS2_EXTENSION_TYPE_MOTION,
     RS2_EXTENSION_TYPE_OPTIONS,
-    RS2_EXTENSION_TYPE_UNKNOWN,
     RS2_EXTENSION_TYPE_VIDEO,
     RS2_EXTENSION_TYPE_ROI,
     RS2_EXTENSION_TYPE_DEPTH_SENSOR,
@@ -287,7 +288,6 @@ typedef struct rs2_frame_callback rs2_frame_callback;
 typedef struct rs2_log_callback rs2_log_callback;
 typedef struct rs2_syncer rs2_syncer;
 typedef struct rs2_device_serializer rs2_device_serializer;
-typedef struct rs2_record_device rs2_record_device;
 typedef struct rs2_source rs2_source;
 typedef struct rs2_processing_block rs2_processing_block;
 typedef struct rs2_frame_processor_callback rs2_frame_processor_callback;
@@ -1076,13 +1076,10 @@ void rs2_delete_device_serializer(rs2_device_serializer * device_serializer);
  * \param error
  * \return
  */
-rs2_record_device* rs2_create_record_device(const rs2_device* device, rs2_device_serializer* serializer, rs2_error** error);
-/**
- * TODO: document
- * \param device 
- */
-void rs2_delete_record_device(rs2_record_device* device);
-
+rs2_device* rs2_create_record_device(const rs2_device* device, rs2_device_serializer* serializer, rs2_error** error);
+void rs2_record_device_pause(const rs2_device* device, rs2_error** error);
+void rs2_record_device_resume(const rs2_device* device, rs2_error** error);
+rs2_device* rs2_create_playback_device(rs2_device_serializer* serializer, rs2_error** error);
 
 rs2_frame* rs2_allocate_synthetic_video_frame(rs2_source* source, rs2_stream new_stream, rs2_frame* original, 
     rs2_format new_format, int new_bpp, int new_width, int new_height, int new_stride, rs2_error** error);