wrapper: build libk4arecord_v2.so — the library the recorder actually dlopens
The recorder does not load the stock libk4a/libk4arecord. It dlopens a single custom libk4arecord_v2.so: the wrapper's MKV-writing sources linked to a pure-data shim (k4a_shim.cpp) instead of libk4a, so recording has no OrbbecSDK dependency. That target is FTF's own (wrapper/recordv2/), absent from the stock wrapper the Orin carried — so ship it and inject+build it, the same pattern as the recorder in the SDK examples tree. Idempotent; only added when missing. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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@@ -1,24 +1,29 @@
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#!/usr/bin/env bash
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# Makes sure the Orbbec K4A wrapper is built for THIS platform, and prints where
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# it is as K4A_WRAPPER_DIR=... for build_sdk.sh (the recorder example needs its
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# headers) and for the recorder's runtime rpath (its libk4a.so/libk4arecord.so).
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# Makes sure the Orbbec K4A wrapper is built for THIS platform, INCLUDING FTF's
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# libk4arecord_v2.so, and prints K4A_WRAPPER_DIR=... for build_sdk.sh (the recorder
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# example needs the headers) and for the recorder's runtime rpath.
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#
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# This is the libk4a provider — Orbbec's own, NOT Microsoft's Azure Kinect SDK.
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# It bundles its own OrbbecSDK internally, so it builds standalone. The recorder
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# dlopens the libk4a it produces (RTLD_DEEPBIND) rather than link-time linking it,
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# which is why only its build/lib path matters at runtime, not link time.
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# This is the libk4a provider — Orbbec's own, NOT Microsoft's Azure Kinect SDK. It
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# bundles its own OrbbecSDK, so it builds standalone.
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#
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# Reuses an existing build (leaving a working node untouched) or clones + builds.
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# The recorder does not dlopen the stock libk4a/libk4arecord. It dlopens a single
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# custom library, libk4arecord_v2.so: the wrapper's own MKV-writing sources linked
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# to a pure-data shim (k4a_shim.cpp) instead of libk4a — K4A-compatible recording
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# with no OrbbecSDK dependency. That target is FTF's (wrapper/recordv2/ in this
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# repo), not part of the stock wrapper, so it is injected and built here.
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#
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# Reuses an existing build; only adds the v2 target if it is missing.
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set -euo pipefail
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here=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
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repo=$(cd "$here/.." && pwd)
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eval "$("$here/detect_platform.sh")"
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REPO_URL="${OB_K4A_REPO:-https://github.com/orbbec/OrbbecSDK-K4A-Wrapper}"
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# The tag the Nano runs. A caller can override to one known to build on a newer
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# JetPack.
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REF="${OB_K4A_REF:-v1.10.4}"
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# A usable wrapper base: headers and the stock libk4a. The v2 target is ensured
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# separately, so a wrapper built before this repo existed still qualifies.
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find_wrapper() {
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local d="$1"
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[[ -f "$d/include/k4a/k4a.h" ]] || return 1
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@@ -26,42 +31,68 @@ find_wrapper() {
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echo "$d"
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}
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# Injects FTF's recordv2 sources and builds libk4arecord_v2.so if it is not there.
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# Idempotent: the add_subdirectory line and the copy are guarded.
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ensure_recordv2() {
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local d="$1"
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[[ -f "$d/build/lib/libk4arecord_v2.so" ]] && return 0
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echo ">> libk4arecord_v2.so absent — injection de recordv2 et compilation…" >&2
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local dst="$d/src/orbbec/recordv2"
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mkdir -p "$dst"
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cp "$repo/wrapper/recordv2/CMakeLists.txt" "$dst/"
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cp "$repo/wrapper/recordv2/k4a_shim.cpp" "$dst/"
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local ob_cmake="$d/src/orbbec/CMakeLists.txt"
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if [[ -f "$ob_cmake" ]] && ! grep -q "add_subdirectory(recordv2)" "$ob_cmake"; then
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echo "add_subdirectory(recordv2)" >> "$ob_cmake"
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fi
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( cd "$d/build"
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cmake .. -DCMAKE_BUILD_TYPE=Release >&2
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make -j"$(nproc)" k4arecord_v2 >&2 )
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[[ -f "$d/build/lib/libk4arecord_v2.so" ]]
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}
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# 1 & 2: reuse a wrapper base, then make sure the v2 target is present.
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for candidate in "${K4A_WRAPPER_DIR:-}" \
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"$HOME/OrbbecSDK-K4A-Wrapper" \
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"$HOME/Downloads/OrbbecSDK-K4A-Wrapper"; do
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[[ -z "$candidate" ]] && continue
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if find_wrapper "$candidate" >/dev/null 2>&1; then
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echo ">> Wrapper K4A deja bati, reutilise: $candidate" >&2
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echo "K4A_WRAPPER_DIR=$candidate"
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exit 0
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echo ">> Wrapper K4A trouve: $candidate" >&2
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if ensure_recordv2 "$candidate"; then
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echo "K4A_WRAPPER_DIR=$candidate"
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exit 0
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fi
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echo "!! libk4arecord_v2.so n'a pas pu etre bati dans $candidate" >&2
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exit 1
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fi
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done
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# 3: clone + build the wrapper base, then the v2 target.
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dir="${K4A_WRAPPER_DIR:-$HOME/OrbbecSDK-K4A-Wrapper}"
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echo ">> Wrapper K4A absent — clone et compilation (JetPack ${JETPACK}, ${SOC})" >&2
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echo ">> ${REPO_URL} @ ${REF} -> ${dir}" >&2
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if [[ ! -d "$dir/.git" ]]; then
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# --recursive: the wrapper carries its OrbbecSDK and depth engine as submodules.
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git clone --recursive --depth 1 --branch "$REF" "$REPO_URL" "$dir" >&2
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fi
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mkdir -p "$dir/build"
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(
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cd "$dir/build"
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cmake .. -DCMAKE_BUILD_TYPE=Release >&2
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make -j"$(nproc)" k4a k4arecord >&2
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)
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( cd "$dir/build"
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cmake .. -DCMAKE_BUILD_TYPE=Release >&2
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make -j"$(nproc)" k4a k4arecord >&2 )
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if ! find_wrapper "$dir" >/dev/null 2>&1; then
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if ! find_wrapper "$dir" >/dev/null 2>&1 || ! ensure_recordv2 "$dir"; then
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cat >&2 <<EOF
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!! La compilation du wrapper K4A ne s'est pas terminee comme attendu
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!! (libk4a.so absent de $dir/build/lib).
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!! La compilation du wrapper K4A (ou de libk4arecord_v2.so) a echoue dans $dir.
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!! Bâtis-le une fois a la main, puis relance install.sh avec :
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!! K4A_WRAPPER_DIR=$dir ./install.sh
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EOF
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exit 1
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fi
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echo ">> Wrapper K4A bati: $dir" >&2
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echo ">> Wrapper K4A + libk4arecord_v2.so batis: $dir" >&2
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echo "K4A_WRAPPER_DIR=$dir"
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@@ -0,0 +1,43 @@
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# Copyright (c) French Touch Factory. All Rights Reserved.
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#
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# libk4arecord_v2 : ecriture MKV compatible K4A sans aucune dependance OrbbecSDK.
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#
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# Reprend telles quelles les sources d'ecriture du wrapper (record.cpp +
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# matroska_write.cpp + iocallback.cpp) mais les lie a k4a_shim.cpp au lieu de
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# libk4a.so, qui implemente k4a_image_t / k4a_capture_t au-dessus d'OrbbecSDK
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# v1.10.18. playback.cpp est volontairement exclu : c'est lui qui appelle
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# ob_create_context(), et le recorder n'a pas besoin de relecture.
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set(RECORD_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../record)
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add_library(k4arecord_v2 SHARED
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${RECORD_SRC_DIR}/sdk/record.cpp
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${RECORD_SRC_DIR}/sdk/dll_main.c
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${RECORD_SRC_DIR}/internal/iocallback.cpp
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${RECORD_SRC_DIR}/internal/matroska_write.cpp
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k4a_shim.cpp
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)
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# k4arecord_EXPORTS : exporte les k4a_record_* (macro de k4arecord_export.h).
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# k4a_EXPORTS : idem pour les k4a_image_* / k4a_capture_* du shim, dont la
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# visibilite est portee par K4A_EXPORT dans k4a.h.
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target_compile_definitions(k4arecord_v2 PRIVATE k4arecord_EXPORTS k4a_EXPORTS)
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target_include_directories(k4arecord_v2 PRIVATE
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${K4A_INCLUDE_DIR}
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${K4A_PRIV_INCLUDE_DIR}
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${CMAKE_CURRENT_SOURCE_DIR}/../include
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# k4arecord/k4arecord_export.h, genere par la cible k4arecord
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${CMAKE_BINARY_DIR}/src/orbbec/record/sdk/include
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)
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# Aucun k4a::k4a, aucun OrbbecSDK : c'est tout l'objet de cette cible.
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target_link_libraries(k4arecord_v2 PRIVATE
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k4ainternal::logging
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ebml::ebml
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matroska::matroska
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)
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set_target_properties(k4arecord_v2 PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib
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)
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@@ -0,0 +1,385 @@
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// Copyright (c) French Touch Factory. All Rights Reserved.
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//
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// k4a_shim — implementation des objets k4a_image_t / k4a_capture_t SANS OrbbecSDK.
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//
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// Pourquoi : libk4a.so implemente ces deux types au-dessus d'OrbbecSDK v1.10.18
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// (k4a_capture_create -> ob_create_frameset, k4a_image_create_from_buffer ->
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// ob_create_frame_from_buffer). Le recorder capture deja via OrbbecSDK v2, et le
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// chemin d'ecriture MKV ne fait que relire buffer/size/format/timestamp de ces
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// objets : l'aller-retour par la v1 n'apporte rien et impose de charger un second
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// SDK dans le process (d'ou le hack RTLD_DEEPBIND, cf. le recorder).
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//
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// Ici les deux types sont de simples conteneurs de donnees comptes par reference.
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// Semantique reproduite a l'identique de l'API Azure Kinect :
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// - create* -> refcount = 1, appartient a l'appelant
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// - capture_set_* -> la capture prend SA propre reference
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// - capture_get_* -> rend une NOUVELLE reference (l'appelant doit release)
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// - release -> decremente ; a 0, appelle le buffer_release_cb fourni
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//
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// Les quatre fonctions k4a_device_* / k4a_calibration_get_from_raw ne sont
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// presentes que pour satisfaire l'editeur de liens : record.cpp ne les appelle
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// que si un k4a_device_t est passe a k4a_record_create(), et le recorder passe
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// nullptr (il attache lui-meme le JSON de calibration lu via la v2).
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#include <k4a/k4a.h>
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#include <atomic>
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#include <cstddef>
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#include <cstdint>
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#include <new>
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namespace {
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struct ShimImage
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{
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std::atomic<int> refcount;
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k4a_image_format_t format;
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int width_pixels;
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int height_pixels;
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int stride_bytes;
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uint8_t *buffer;
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size_t size;
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k4a_memory_destroy_cb_t *release_cb;
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void *release_cb_context;
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uint64_t device_timestamp_usec;
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uint64_t system_timestamp_nsec;
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};
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struct ShimCapture
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{
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std::atomic<int> refcount;
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ShimImage *color;
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ShimImage *depth;
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ShimImage *ir;
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float temperature_c;
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};
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inline ShimImage *as_image(k4a_image_t h)
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{
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return reinterpret_cast<ShimImage *>(h);
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}
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inline ShimCapture *as_capture(k4a_capture_t h)
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{
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return reinterpret_cast<ShimCapture *>(h);
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}
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inline void image_add_ref(ShimImage *i)
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{
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if (i != nullptr)
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{
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i->refcount.fetch_add(1, std::memory_order_relaxed);
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}
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}
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// Rend la reference. A zero : rend le buffer a son proprietaire via le callback
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// fourni a la creation, puis detruit le conteneur.
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void image_dec_ref(ShimImage *i)
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{
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if (i == nullptr)
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{
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return;
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}
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if (i->refcount.fetch_sub(1, std::memory_order_acq_rel) == 1)
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{
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if (i->release_cb != nullptr)
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{
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i->release_cb(i->buffer, i->release_cb_context);
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}
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delete i;
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}
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}
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// Remplace un des trois emplacements d'une capture en respectant les references :
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// on prend la nouvelle avant de rendre l'ancienne, au cas ou ce soit la meme.
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void capture_set_slot(ShimImage **slot, k4a_image_t image_handle)
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{
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ShimImage *incoming = as_image(image_handle);
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image_add_ref(incoming);
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ShimImage *previous = *slot;
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*slot = incoming;
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image_dec_ref(previous);
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}
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k4a_image_t capture_get_slot(ShimImage *slot)
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{
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image_add_ref(slot);
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return reinterpret_cast<k4a_image_t>(slot);
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}
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} // namespace
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extern "C" {
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// ---- images ----------------------------------------------------------------
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k4a_result_t k4a_image_create_from_buffer(k4a_image_format_t format,
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int width_pixels,
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int height_pixels,
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int stride_bytes,
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uint8_t *buffer,
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size_t buffer_size,
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k4a_memory_destroy_cb_t *buffer_release_cb,
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void *buffer_release_cb_context,
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k4a_image_t *image_handle)
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{
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if (image_handle == nullptr || buffer == nullptr)
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{
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return K4A_RESULT_FAILED;
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}
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ShimImage *i = new (std::nothrow) ShimImage();
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if (i == nullptr)
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{
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return K4A_RESULT_FAILED;
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}
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i->refcount.store(1, std::memory_order_relaxed);
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i->format = format;
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i->width_pixels = width_pixels;
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i->height_pixels = height_pixels;
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i->stride_bytes = stride_bytes;
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i->buffer = buffer;
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i->size = buffer_size;
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i->release_cb = buffer_release_cb;
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i->release_cb_context = buffer_release_cb_context;
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i->device_timestamp_usec = 0;
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i->system_timestamp_nsec = 0;
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*image_handle = reinterpret_cast<k4a_image_t>(i);
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return K4A_RESULT_SUCCEEDED;
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}
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uint8_t *k4a_image_get_buffer(k4a_image_t image_handle)
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{
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ShimImage *i = as_image(image_handle);
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return (i != nullptr) ? i->buffer : nullptr;
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}
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size_t k4a_image_get_size(k4a_image_t image_handle)
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{
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ShimImage *i = as_image(image_handle);
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return (i != nullptr) ? i->size : 0;
|
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}
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k4a_image_format_t k4a_image_get_format(k4a_image_t image_handle)
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{
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ShimImage *i = as_image(image_handle);
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return (i != nullptr) ? i->format : K4A_IMAGE_FORMAT_CUSTOM;
|
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}
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int k4a_image_get_width_pixels(k4a_image_t image_handle)
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{
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ShimImage *i = as_image(image_handle);
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return (i != nullptr) ? i->width_pixels : 0;
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}
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int k4a_image_get_height_pixels(k4a_image_t image_handle)
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{
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ShimImage *i = as_image(image_handle);
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return (i != nullptr) ? i->height_pixels : 0;
|
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}
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||||
|
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int k4a_image_get_stride_bytes(k4a_image_t image_handle)
|
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{
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ShimImage *i = as_image(image_handle);
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return (i != nullptr) ? i->stride_bytes : 0;
|
||||
}
|
||||
|
||||
uint64_t k4a_image_get_device_timestamp_usec(k4a_image_t image_handle)
|
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{
|
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ShimImage *i = as_image(image_handle);
|
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return (i != nullptr) ? i->device_timestamp_usec : 0;
|
||||
}
|
||||
|
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void k4a_image_set_device_timestamp_usec(k4a_image_t image_handle, uint64_t timestamp_usec)
|
||||
{
|
||||
ShimImage *i = as_image(image_handle);
|
||||
if (i != nullptr)
|
||||
{
|
||||
i->device_timestamp_usec = timestamp_usec;
|
||||
}
|
||||
}
|
||||
|
||||
uint64_t k4a_image_get_system_timestamp_nsec(k4a_image_t image_handle)
|
||||
{
|
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ShimImage *i = as_image(image_handle);
|
||||
return (i != nullptr) ? i->system_timestamp_nsec : 0;
|
||||
}
|
||||
|
||||
void k4a_image_set_system_timestamp_nsec(k4a_image_t image_handle, uint64_t timestamp_nsec)
|
||||
{
|
||||
ShimImage *i = as_image(image_handle);
|
||||
if (i != nullptr)
|
||||
{
|
||||
i->system_timestamp_nsec = timestamp_nsec;
|
||||
}
|
||||
}
|
||||
|
||||
void k4a_image_reference(k4a_image_t image_handle)
|
||||
{
|
||||
image_add_ref(as_image(image_handle));
|
||||
}
|
||||
|
||||
void k4a_image_release(k4a_image_t image_handle)
|
||||
{
|
||||
image_dec_ref(as_image(image_handle));
|
||||
}
|
||||
|
||||
// ---- captures --------------------------------------------------------------
|
||||
|
||||
k4a_result_t k4a_capture_create(k4a_capture_t *capture_handle)
|
||||
{
|
||||
if (capture_handle == nullptr)
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
ShimCapture *c = new (std::nothrow) ShimCapture();
|
||||
if (c == nullptr)
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
c->refcount.store(1, std::memory_order_relaxed);
|
||||
c->color = nullptr;
|
||||
c->depth = nullptr;
|
||||
c->ir = nullptr;
|
||||
c->temperature_c = 0.0f;
|
||||
|
||||
*capture_handle = reinterpret_cast<k4a_capture_t>(c);
|
||||
return K4A_RESULT_SUCCEEDED;
|
||||
}
|
||||
|
||||
void k4a_capture_reference(k4a_capture_t capture_handle)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
if (c != nullptr)
|
||||
{
|
||||
c->refcount.fetch_add(1, std::memory_order_relaxed);
|
||||
}
|
||||
}
|
||||
|
||||
void k4a_capture_release(k4a_capture_t capture_handle)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
if (c == nullptr)
|
||||
{
|
||||
return;
|
||||
}
|
||||
if (c->refcount.fetch_sub(1, std::memory_order_acq_rel) == 1)
|
||||
{
|
||||
image_dec_ref(c->color);
|
||||
image_dec_ref(c->depth);
|
||||
image_dec_ref(c->ir);
|
||||
delete c;
|
||||
}
|
||||
}
|
||||
|
||||
void k4a_capture_set_color_image(k4a_capture_t capture_handle, k4a_image_t image_handle)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
if (c != nullptr)
|
||||
{
|
||||
capture_set_slot(&c->color, image_handle);
|
||||
}
|
||||
}
|
||||
|
||||
void k4a_capture_set_depth_image(k4a_capture_t capture_handle, k4a_image_t image_handle)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
if (c != nullptr)
|
||||
{
|
||||
capture_set_slot(&c->depth, image_handle);
|
||||
}
|
||||
}
|
||||
|
||||
void k4a_capture_set_ir_image(k4a_capture_t capture_handle, k4a_image_t image_handle)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
if (c != nullptr)
|
||||
{
|
||||
capture_set_slot(&c->ir, image_handle);
|
||||
}
|
||||
}
|
||||
|
||||
k4a_image_t k4a_capture_get_color_image(k4a_capture_t capture_handle)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
return (c != nullptr) ? capture_get_slot(c->color) : nullptr;
|
||||
}
|
||||
|
||||
k4a_image_t k4a_capture_get_depth_image(k4a_capture_t capture_handle)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
return (c != nullptr) ? capture_get_slot(c->depth) : nullptr;
|
||||
}
|
||||
|
||||
k4a_image_t k4a_capture_get_ir_image(k4a_capture_t capture_handle)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
return (c != nullptr) ? capture_get_slot(c->ir) : nullptr;
|
||||
}
|
||||
|
||||
void k4a_capture_set_temperature_c(k4a_capture_t capture_handle, float temperature_c)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
if (c != nullptr)
|
||||
{
|
||||
c->temperature_c = temperature_c;
|
||||
}
|
||||
}
|
||||
|
||||
float k4a_capture_get_temperature_c(k4a_capture_t capture_handle)
|
||||
{
|
||||
ShimCapture *c = as_capture(capture_handle);
|
||||
return (c != nullptr) ? c->temperature_c : 0.0f;
|
||||
}
|
||||
|
||||
// ---- stubs de lien ---------------------------------------------------------
|
||||
// record.cpp ne touche a un k4a_device_t que si k4a_record_create() en recoit un.
|
||||
// Le recorder passe nullptr, donc ces chemins sont morts. On echoue proprement
|
||||
// plutot que de mentir sur des donnees qu'on ne peut pas fournir.
|
||||
|
||||
k4a_buffer_result_t k4a_device_get_raw_calibration(k4a_device_t device_handle,
|
||||
uint8_t *data,
|
||||
size_t *data_size)
|
||||
{
|
||||
(void)device_handle;
|
||||
(void)data;
|
||||
(void)data_size;
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
k4a_buffer_result_t k4a_device_get_serialnum(k4a_device_t device_handle,
|
||||
char *serial_number,
|
||||
size_t *serial_number_size)
|
||||
{
|
||||
(void)device_handle;
|
||||
(void)serial_number;
|
||||
(void)serial_number_size;
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
k4a_result_t k4a_device_get_version(k4a_device_t device_handle, k4a_hardware_version_t *version)
|
||||
{
|
||||
(void)device_handle;
|
||||
(void)version;
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
k4a_result_t k4a_calibration_get_from_raw(char *raw_calibration,
|
||||
size_t raw_calibration_size,
|
||||
const k4a_depth_mode_t depth_mode,
|
||||
const k4a_color_resolution_t color_resolution,
|
||||
k4a_calibration_t *calibration)
|
||||
{
|
||||
(void)raw_calibration;
|
||||
(void)raw_calibration_size;
|
||||
(void)depth_mode;
|
||||
(void)color_resolution;
|
||||
(void)calibration;
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
Reference in new issue
Block a user