RGBDVideoReader.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 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.
// ----------------------------------------------------------------------------

#pragma once

#include "open3d/io/sensor/RGBDSensorConfig.h"
#include "open3d/t/geometry/RGBDImage.h"
#include "open3d/t/io/sensor/RGBDVideoMetadata.h"

namespace open3d {
namespace t {
namespace io {

class RGBDVideoReader {
public:
    RGBDVideoReader() {}
    virtual ~RGBDVideoReader() {}

    virtual bool IsOpened() const = 0;

    virtual bool IsEOF() const = 0;

    virtual bool Open(const std::string &filename) = 0;

    virtual void Close() = 0;

    virtual RGBDVideoMetadata &GetMetadata() = 0;

    virtual const RGBDVideoMetadata &GetMetadata() const = 0;

    virtual bool SeekTimestamp(uint64_t timestamp) = 0;

    virtual uint64_t GetTimestamp() const = 0;

    virtual t::geometry::RGBDImage NextFrame() = 0;

    //
    //
    virtual void SaveFrames(const std::string &frame_path,
                            uint64_t start_time_us = 0,
                            uint64_t end_time_us = UINT64_MAX);

    virtual std::string GetFilename() const = 0;

    virtual std::string ToString() const;

    static std::shared_ptr<RGBDVideoReader> Create(const std::string &filename);
};

}  // namespace io
}  // namespace t
}  // namespace open3d