RSBagReader.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <atomic>
#include <condition_variable>
#include <string>
#include <thread>
#include <unordered_map>
#include <vector>
 
#include "open3d/io/sensor/RGBDSensorConfig.h"
#include "open3d/t/io/sensor/RGBDVideoReader.h"
#include "open3d/utility/IJsonConvertible.h"
 
// Forward declarations for librealsense classes
namespace rs2 {
class pipeline;
}  // namespace rs2
 
namespace open3d {
namespace t {
namespace io {
 
class RSBagReader : public RGBDVideoReader {
public:
    static const size_t DEFAULT_BUFFER_SIZE = 32;
 
    explicit RSBagReader(size_t buffer_size = DEFAULT_BUFFER_SIZE);
 
    RSBagReader(const RSBagReader &) = delete;
    RSBagReader &operator=(const RSBagReader &) = delete;
    virtual ~RSBagReader();
 
    virtual bool IsOpened() const override { return is_opened_; }
 
    virtual bool IsEOF() const override;
 
    virtual bool Open(const std::string &filename) override;
 
    virtual void Close() override;
 
    virtual const RGBDVideoMetadata &GetMetadata() const override {
        return metadata_;
    }
 
    virtual RGBDVideoMetadata &GetMetadata() override { return metadata_; }
 
    virtual bool SeekTimestamp(uint64_t timestamp) override;
 
    virtual uint64_t GetTimestamp() const override;
 
    virtual t::geometry::RGBDImage NextFrame() override;
 
    virtual std::string GetFilename() const override { return filename_; };
 
    using RGBDVideoReader::SaveFrames;
    using RGBDVideoReader::ToString;
 
private:
    std::string filename_;
    RGBDVideoMetadata metadata_;
 
    std::atomic<bool> is_eof_{false};     // Write by frame_reader_thread.
    std::atomic<bool> is_opened_{false};  // Read by frame_reader_thread.
    std::vector<t::geometry::RGBDImage> frame_buffer_;
    std::vector<uint64_t>
            frame_position_us_;  
    static const size_t BUFFER_REFILL_FACTOR =
            4;  
    std::atomic<uint64_t> head_fid_{
            0};  
    std::atomic<uint64_t> tail_fid_{0};  
    std::atomic<uint64_t> seek_to_{UINT64_MAX};
    std::condition_variable need_frames_;
    void fill_frame_buffer();
    std::thread frame_reader_thread_;
 
    std::unique_ptr<rs2::pipeline> pipe_;
 
    Json::Value GetMetadataJson();
    std::string GetTagInMetadata(const std::string &tag_name);
};
}  // namespace io
}  // namespace t
}  // namespace open3d