293 lines
8.2 KiB
C++
293 lines
8.2 KiB
C++
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/** \file record.hpp
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* Copyright (c) Microsoft Corporation. All rights reserved.
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* Licensed under the MIT License.
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* Kinect For Azure SDK - C++ wrapper.
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*/
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#ifndef K4A_RECORD_HPP
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#define K4A_RECORD_HPP
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#include <k4a/k4a.hpp>
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#include <k4arecord/record.h>
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namespace k4a
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{
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/** \class record record.hpp
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* Wrapper for \ref k4a_record_t
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*
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* Wraps a handle for a record object
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*
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* \sa k4a_record_t
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*/
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class record
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{
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public:
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/** Creates a k4a::record from a k4a_record_t
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* Takes ownership of the handle, i.e. you should not call
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* k4a_record_close on the handle after giving it to the
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* k4a::record; the k4a::record will take care of that.
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*/
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record(k4a_record_t handle = nullptr) noexcept : m_handle(handle) {}
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/** Moves another k4a::record into a new k4a::record
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*/
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record(record &&other) noexcept : m_handle(other.m_handle)
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{
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other.m_handle = nullptr;
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}
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record(const record &) = delete;
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~record()
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{
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// NOTE: flush is called internally when closing record
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close();
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}
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record &operator=(const record &) = delete;
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/** Moves another k4a::record into this k4a::record; other is set to invalid
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*/
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record &operator=(record &&other) noexcept
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{
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if (this != &other)
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{
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close();
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m_handle = other.m_handle;
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other.m_handle = nullptr;
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}
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return *this;
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}
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/** Returns true if the k4a::record is valid, false otherwise
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*/
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explicit operator bool() const noexcept
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{
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return is_valid();
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}
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/** Returns true if the k4a::record is valid, false otherwise
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*/
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bool is_valid() const noexcept
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{
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return m_handle != nullptr;
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}
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/** Closes a K4A recording.
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*
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* \sa k4a_record_close
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*/
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void close() noexcept
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{
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if (is_valid())
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{
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k4a_record_close(m_handle);
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m_handle = nullptr;
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}
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}
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/** Flushes all pending recording data to disk
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*
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* \sa k4a_record_flush
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*/
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void flush()
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{
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if (m_handle)
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{
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k4a_result_t result = k4a_record_flush(m_handle);
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if (K4A_FAILED(result))
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{
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throw error("Failed to flush!");
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}
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}
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}
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/** Adds a tag to the recording
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* Throws error on failure
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*
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* \sa k4a_record_add_tag
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*/
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void add_tag(const char *name, const char *value)
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{
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k4a_result_t result = k4a_record_add_tag(m_handle, name, value);
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if (K4A_FAILED(result))
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{
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throw error("Failed to add tag!");
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}
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}
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/** Adds the track header for recording IMU
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* Throws error on failure
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*
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* \sa k4a_record_add_imu_track
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*/
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void add_imu_track()
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{
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k4a_result_t result = k4a_record_add_imu_track(m_handle);
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if (K4A_FAILED(result))
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{
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throw error("Failed to add imu_track!");
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}
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}
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/** Adds an attachment to the recording
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* Throws error on failure
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*
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* \sa k4a_record_add_attachment
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*/
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void add_attachment(const char *attachment_name, const uint8_t *buffer, size_t buffer_size)
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{
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k4a_result_t result = k4a_record_add_attachment(m_handle, attachment_name, buffer, buffer_size);
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if (K4A_FAILED(result))
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{
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throw error("Failed to add attachment!");
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}
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}
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/** Adds custom video tracks to the recording
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* Throws error on failure
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*
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* \sa k4a_record_add_custom_video_track
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*/
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void add_custom_video_track(const char *track_name,
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const char *codec_id,
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const uint8_t *codec_context,
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size_t codec_context_size,
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const k4a_record_video_settings_t *track_settings)
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{
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k4a_result_t result = k4a_record_add_custom_video_track(m_handle,
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track_name,
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codec_id,
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codec_context,
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codec_context_size,
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track_settings);
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if (K4A_FAILED(result))
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{
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throw error("Failed to add custom video track!");
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}
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}
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/** Adds custom subtitle tracks to the recording
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* Throws error on failure
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*
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* \sa k4a_record_add_custom_subtitle_track
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*/
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void add_custom_subtitle_track(const char *track_name,
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const char *codec_id,
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const uint8_t *codec_context,
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size_t codec_context_size,
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const k4a_record_subtitle_settings_t *track_settings)
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{
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k4a_result_t result = k4a_record_add_custom_subtitle_track(m_handle,
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track_name,
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codec_id,
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codec_context,
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codec_context_size,
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track_settings);
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if (K4A_FAILED(result))
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{
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throw error("Failed to add custom subtitle track!");
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}
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}
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/** Writes the recording header and metadata to file
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* Throws error on failure
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*
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* \sa k4a_record_write_header
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*/
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void write_header()
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{
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k4a_result_t result = k4a_record_write_header(m_handle);
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if (K4A_FAILED(result))
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{
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throw error("Failed to write header!");
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}
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}
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/** Writes a camera capture to file
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* Throws error on failure
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*
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* \sa k4a_record_write_capture
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*/
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void write_capture(const capture &capture)
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{
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k4a_result_t result = k4a_record_write_capture(m_handle, capture.handle());
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if (K4A_FAILED(result))
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{
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throw error("Failed to write capture!");
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}
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}
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/** Writes an imu sample to file
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* Throws error on failure
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*
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* \sa k4a_record_write_imu_sample
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*/
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void write_imu_sample(const k4a_imu_sample_t &imu_sample)
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{
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k4a_result_t result = k4a_record_write_imu_sample(m_handle, imu_sample);
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if (K4A_FAILED(result))
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{
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throw error("Failed to write imu sample!");
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}
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}
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/** Writes data for a custom track to file
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* Throws error on failure
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*
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* \sa k4a_record_write_custom_track_data
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*/
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void write_custom_track_data(const char *track_name,
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const std::chrono::microseconds device_timestamp_usec,
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uint8_t *custom_data,
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size_t custom_data_size)
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{
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k4a_result_t result = k4a_record_write_custom_track_data(m_handle,
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track_name,
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internal::clamp_cast<uint64_t>(
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device_timestamp_usec.count()),
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custom_data,
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custom_data_size);
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if (K4A_FAILED(result))
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{
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throw error("Failed to write custom track data!");
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}
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}
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/** Opens a new recording file for writing
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* Throws error on failure
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*
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* \sa k4a_record_create
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*/
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static record create(const char *path, const device &device, const k4a_device_configuration_t &device_configuration)
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{
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k4a_record_t handle = nullptr;
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k4a_result_t result = k4a_record_create(path, device.handle(), device_configuration, &handle);
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if (K4A_FAILED(result))
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{
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throw error("Failed to create recorder!");
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}
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return record(handle);
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}
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private:
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k4a_record_t m_handle;
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};
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} // namespace k4a
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#endif
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