AngePierreandClaude Opus 5
cabca69c4d
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>
386 lines
11 KiB
C++
386 lines
11 KiB
C++
// Copyright (c) French Touch Factory. All Rights Reserved.
|
|
//
|
|
// k4a_shim — implementation des objets k4a_image_t / k4a_capture_t SANS OrbbecSDK.
|
|
//
|
|
// Pourquoi : libk4a.so implemente ces deux types au-dessus d'OrbbecSDK v1.10.18
|
|
// (k4a_capture_create -> ob_create_frameset, k4a_image_create_from_buffer ->
|
|
// ob_create_frame_from_buffer). Le recorder capture deja via OrbbecSDK v2, et le
|
|
// chemin d'ecriture MKV ne fait que relire buffer/size/format/timestamp de ces
|
|
// objets : l'aller-retour par la v1 n'apporte rien et impose de charger un second
|
|
// SDK dans le process (d'ou le hack RTLD_DEEPBIND, cf. le recorder).
|
|
//
|
|
// Ici les deux types sont de simples conteneurs de donnees comptes par reference.
|
|
// Semantique reproduite a l'identique de l'API Azure Kinect :
|
|
// - create* -> refcount = 1, appartient a l'appelant
|
|
// - capture_set_* -> la capture prend SA propre reference
|
|
// - capture_get_* -> rend une NOUVELLE reference (l'appelant doit release)
|
|
// - release -> decremente ; a 0, appelle le buffer_release_cb fourni
|
|
//
|
|
// Les quatre fonctions k4a_device_* / k4a_calibration_get_from_raw ne sont
|
|
// presentes que pour satisfaire l'editeur de liens : record.cpp ne les appelle
|
|
// que si un k4a_device_t est passe a k4a_record_create(), et le recorder passe
|
|
// nullptr (il attache lui-meme le JSON de calibration lu via la v2).
|
|
|
|
#include <k4a/k4a.h>
|
|
|
|
#include <atomic>
|
|
#include <cstddef>
|
|
#include <cstdint>
|
|
#include <new>
|
|
|
|
namespace {
|
|
|
|
struct ShimImage
|
|
{
|
|
std::atomic<int> refcount;
|
|
k4a_image_format_t format;
|
|
int width_pixels;
|
|
int height_pixels;
|
|
int stride_bytes;
|
|
uint8_t *buffer;
|
|
size_t size;
|
|
k4a_memory_destroy_cb_t *release_cb;
|
|
void *release_cb_context;
|
|
uint64_t device_timestamp_usec;
|
|
uint64_t system_timestamp_nsec;
|
|
};
|
|
|
|
struct ShimCapture
|
|
{
|
|
std::atomic<int> refcount;
|
|
ShimImage *color;
|
|
ShimImage *depth;
|
|
ShimImage *ir;
|
|
float temperature_c;
|
|
};
|
|
|
|
inline ShimImage *as_image(k4a_image_t h)
|
|
{
|
|
return reinterpret_cast<ShimImage *>(h);
|
|
}
|
|
|
|
inline ShimCapture *as_capture(k4a_capture_t h)
|
|
{
|
|
return reinterpret_cast<ShimCapture *>(h);
|
|
}
|
|
|
|
inline void image_add_ref(ShimImage *i)
|
|
{
|
|
if (i != nullptr)
|
|
{
|
|
i->refcount.fetch_add(1, std::memory_order_relaxed);
|
|
}
|
|
}
|
|
|
|
// Rend la reference. A zero : rend le buffer a son proprietaire via le callback
|
|
// fourni a la creation, puis detruit le conteneur.
|
|
void image_dec_ref(ShimImage *i)
|
|
{
|
|
if (i == nullptr)
|
|
{
|
|
return;
|
|
}
|
|
if (i->refcount.fetch_sub(1, std::memory_order_acq_rel) == 1)
|
|
{
|
|
if (i->release_cb != nullptr)
|
|
{
|
|
i->release_cb(i->buffer, i->release_cb_context);
|
|
}
|
|
delete i;
|
|
}
|
|
}
|
|
|
|
// Remplace un des trois emplacements d'une capture en respectant les references :
|
|
// on prend la nouvelle avant de rendre l'ancienne, au cas ou ce soit la meme.
|
|
void capture_set_slot(ShimImage **slot, k4a_image_t image_handle)
|
|
{
|
|
ShimImage *incoming = as_image(image_handle);
|
|
image_add_ref(incoming);
|
|
ShimImage *previous = *slot;
|
|
*slot = incoming;
|
|
image_dec_ref(previous);
|
|
}
|
|
|
|
k4a_image_t capture_get_slot(ShimImage *slot)
|
|
{
|
|
image_add_ref(slot);
|
|
return reinterpret_cast<k4a_image_t>(slot);
|
|
}
|
|
|
|
} // namespace
|
|
|
|
extern "C" {
|
|
|
|
// ---- images ----------------------------------------------------------------
|
|
|
|
k4a_result_t k4a_image_create_from_buffer(k4a_image_format_t format,
|
|
int width_pixels,
|
|
int height_pixels,
|
|
int stride_bytes,
|
|
uint8_t *buffer,
|
|
size_t buffer_size,
|
|
k4a_memory_destroy_cb_t *buffer_release_cb,
|
|
void *buffer_release_cb_context,
|
|
k4a_image_t *image_handle)
|
|
{
|
|
if (image_handle == nullptr || buffer == nullptr)
|
|
{
|
|
return K4A_RESULT_FAILED;
|
|
}
|
|
|
|
ShimImage *i = new (std::nothrow) ShimImage();
|
|
if (i == nullptr)
|
|
{
|
|
return K4A_RESULT_FAILED;
|
|
}
|
|
|
|
i->refcount.store(1, std::memory_order_relaxed);
|
|
i->format = format;
|
|
i->width_pixels = width_pixels;
|
|
i->height_pixels = height_pixels;
|
|
i->stride_bytes = stride_bytes;
|
|
i->buffer = buffer;
|
|
i->size = buffer_size;
|
|
i->release_cb = buffer_release_cb;
|
|
i->release_cb_context = buffer_release_cb_context;
|
|
i->device_timestamp_usec = 0;
|
|
i->system_timestamp_nsec = 0;
|
|
|
|
*image_handle = reinterpret_cast<k4a_image_t>(i);
|
|
return K4A_RESULT_SUCCEEDED;
|
|
}
|
|
|
|
uint8_t *k4a_image_get_buffer(k4a_image_t image_handle)
|
|
{
|
|
ShimImage *i = as_image(image_handle);
|
|
return (i != nullptr) ? i->buffer : nullptr;
|
|
}
|
|
|
|
size_t k4a_image_get_size(k4a_image_t image_handle)
|
|
{
|
|
ShimImage *i = as_image(image_handle);
|
|
return (i != nullptr) ? i->size : 0;
|
|
}
|
|
|
|
k4a_image_format_t k4a_image_get_format(k4a_image_t image_handle)
|
|
{
|
|
ShimImage *i = as_image(image_handle);
|
|
return (i != nullptr) ? i->format : K4A_IMAGE_FORMAT_CUSTOM;
|
|
}
|
|
|
|
int k4a_image_get_width_pixels(k4a_image_t image_handle)
|
|
{
|
|
ShimImage *i = as_image(image_handle);
|
|
return (i != nullptr) ? i->width_pixels : 0;
|
|
}
|
|
|
|
int k4a_image_get_height_pixels(k4a_image_t image_handle)
|
|
{
|
|
ShimImage *i = as_image(image_handle);
|
|
return (i != nullptr) ? i->height_pixels : 0;
|
|
}
|
|
|
|
int k4a_image_get_stride_bytes(k4a_image_t image_handle)
|
|
{
|
|
ShimImage *i = as_image(image_handle);
|
|
return (i != nullptr) ? i->stride_bytes : 0;
|
|
}
|
|
|
|
uint64_t k4a_image_get_device_timestamp_usec(k4a_image_t image_handle)
|
|
{
|
|
ShimImage *i = as_image(image_handle);
|
|
return (i != nullptr) ? i->device_timestamp_usec : 0;
|
|
}
|
|
|
|
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)
|
|
{
|
|
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"
|