Recorder

Streams sensor data to disk for later replay. More...

Typedefs
typedef int	reme_recorder_t
	Handle referencing a sensor recorder object. More...
reme_error_t	reme_recorder_create (reme_context_t c, reme_recorder_t *r)
	Create a new sensor recorder object. More...
reme_error_t	reme_recorder_destroy (reme_context_t c, reme_recorder_t *r)
	Destroy a previously created recorder object. More...
reme_error_t	reme_recorder_set_sensor (reme_context_t c, reme_recorder_t r, reme_sensor_t s)
	Set the sensor to record from. More...
reme_error_t	reme_recorder_bind_file_options (reme_context_t c, reme_recorder_t r, reme_options_t o)
	Access the recorder specific file options. More...
reme_error_t	reme_recorder_open (reme_context_t c, reme_recorder_t r)
	Open the recorder for streaming. More...
reme_error_t	reme_recorder_update (reme_context_t c, reme_recorder_t r)
	Update the associated file streams with the current sensor content. More...
reme_error_t	reme_recorder_close (reme_context_t c, reme_recorder_t r)
	Close the recorder file streams. More...

Detailed Description

Streams sensor data to disk for later replay.

The recorder is capable of streaming sensor data to disk, in order to later replay that data using a file sensor.

    // Create a new real sensor
    reme_sensor_t s;
    reme_sensor_create(c, "openni;mskinect", true, &s);
    reme_sensor_open(c, s);

    // Create a new file recorder.
    // By default the recorder uses the first sensor.
    reme_recorder_t r;
    reme_recorder_create(c, &r);

    // Specify the sensor to use
    reme_recorder_set_sensor(c, r, s);

    // Modify the recording outputs
    reme_recorder_bind_file_options(c, r, o);
    reme_options_set(c, o, "file_sensor_config", "my_file_recording.txt");
    reme_options_set(c, o, "depth_file", "my_depths.gz");
    reme_options_set(c, o, "color_file", "my_colors.avi");

    // Open the recorder. At this point the sensor
    // needs to be open as well.
    reme_recorder_open(c, r);

    // Quick viewer
    reme_viewer_t viewer;
    reme_viewer_create_image(c, "Recording data", &viewer);

    reme_image_t depth, color;
    reme_image_create(c, &depth);
    reme_image_create(c, &color);
    reme_viewer_add_image(c, viewer, depth);
    reme_viewer_add_image(c, viewer, color);

    // Loop until done
    while (!_kbhit() && REME_SUCCESS(reme_sensor_grab(c, s))) {

        // Prepare image and depth data
        reme_sensor_prepare_image(c, s, REME_IMAGE_AUX);
        reme_sensor_prepare_image(c, s, REME_IMAGE_DEPTH);

        // Update the recorder with current sensor data
        reme_recorder_update(c, r);

        // Update the viewer
        reme_sensor_get_image(c, s, REME_IMAGE_DEPTH, depth);
        reme_sensor_get_image(c, s, REME_IMAGE_AUX, color);
        reme_viewer_update(c, viewer);
    }

    // Done with recorder, forces the files to be closed.
    reme_recorder_close(c, r);

The full example including a replaying the recordered stream is located at example_reconstructmesdk_recorder.cpp

Typedef Documentation

reme_recorder_t

typedef int reme_recorder_t

Handle referencing a sensor recorder object.

A reme_recorder_t represents a file based recording utility that is able to save sensor frames to disk for later replay.

Function Documentation

reme_recorder_create()

reme_error_t reme_recorder_create	(	reme_context_t	c,
		reme_recorder_t *	r
	)

Create a new sensor recorder object.

Parameters

c	A valid context object
r	A pointer that will receive the handle of the created recorder

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_recorder.cpp, and example_reconstructmesdk_recorder_update_fileformat.cpp.

reme_recorder_destroy()

reme_error_t reme_recorder_destroy	(	reme_context_t	c,
		reme_recorder_t *	r
	)

Destroy a previously created recorder object.

Parameters

c	A pointer to a valid context object
r	A mutable pointer to a valid recorder handle to destroy

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_recorder_set_sensor()

reme_error_t reme_recorder_set_sensor	(	reme_context_t	c,
		reme_recorder_t	r,
		reme_sensor_t	s
	)

Set the sensor to record from.

The recorder will use the given sensor to stream data from. It will also copy the sensors' intrinsics to the resulting file sensor configuration file, so replaying from this sensor uses the correct camera intrinsics.

By default the recorder streams from the first sensor.

Parameters

c	A valid context object
r	A valid recorder object
s	A valid sensor object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_recorder.cpp, and example_reconstructmesdk_recorder_update_fileformat.cpp.

reme_recorder_bind_file_options()

reme_error_t reme_recorder_bind_file_options	(	reme_context_t	c,
		reme_recorder_t	r,
		reme_options_t	o
	)

Access the recorder specific file options.

Associated Protocol Buffers Specification

// Recorder options
message recorder_options {
  // Where to save the depth file
  optional string depth_file = 1 [default = "reconstructme.depths.gz"];
  // Where to save the color file if supported
  optional string color_file = 2 [default = "reconstructme.avi"];
  // Where to save the file_sensor configuration file
  // Note that the recorder will copy the relevant sensor intrinsics
  // from the real sensor
  optional string file_sensor_config = 3 [default = "file_sensor.txt"];
}

Parameters

c	A valid context object
r	A valid recorder object
o	A valid options binding object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_recorder.cpp, and example_reconstructmesdk_recorder_update_fileformat.cpp.

reme_recorder_open()

reme_error_t reme_recorder_open	(	reme_context_t	c,
		reme_recorder_t	r
	)

Open the recorder for streaming.

This will force existing files to be overridden.

Parameters

c	A valid context object
r	A valid recorder object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_recorder.cpp, and example_reconstructmesdk_recorder_update_fileformat.cpp.

reme_recorder_update()

reme_error_t reme_recorder_update	(	reme_context_t	c,
		reme_recorder_t	r
	)

Update the associated file streams with the current sensor content.

Parameters

c	A valid context object
r	A valid recorder object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_recorder.cpp, and example_reconstructmesdk_recorder_update_fileformat.cpp.

reme_recorder_close()

reme_error_t reme_recorder_close	(	reme_context_t	c,
		reme_recorder_t	r
	)

Close the recorder file streams.

Closes the file streams.

Parameters

c	A valid context object
r	A valid recorder object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_recorder.cpp, and example_reconstructmesdk_recorder_update_fileformat.cpp.