MKVReader.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "open3d/geometry/RGBDImage.h"
#include "open3d/io/sensor/azure_kinect/MKVMetadata.h"
#include "open3d/utility/IJsonConvertible.h"
 
struct _k4a_playback_t;        // typedef _k4a_playback_t* k4a_playback_t;
struct _k4a_capture_t;         // typedef _k4a_capture_t* k4a_capture_t;
struct _k4a_transformation_t;  // typedef _k4a_transformation_t*
                               // k4a_transformation_t;
 
namespace open3d {
namespace io {
 
class MKVReader {
public:
    MKVReader();
    virtual ~MKVReader() {}
 
    bool IsOpened();
    bool IsEOF() { return is_eof_; }
 
    bool Open(const std::string &filename);
    void Close();
 
    MKVMetadata &GetMetadata() { return metadata_; }
    bool SeekTimestamp(size_t timestamp);
    std::shared_ptr<geometry::RGBDImage> NextFrame();
 
private:
    _k4a_playback_t *handle_;
    _k4a_transformation_t *transformation_;
    MKVMetadata metadata_;
    bool is_eof_ = false;
 
    Json::Value GetMetadataJson();
    std::string GetTagInMetadata(const std::string &tag_name);
};
}  // namespace io
}  // namespace open3d