RFSRecorder Class Reference

#include <RFSRecorder.h>

Saves RGB-D sequences in RFS format. More...

Detailed Description

Saves RGB-D sequences in RFS format.

The recorder uses a ring buffer to store the passed in images. In the background a thread is writing the images to disk. To start the thread call start(), to stop it call stop(). If the thread is not running images will be dropped when the ring buffer is full. Frames will also be dropped when the frames cannot be written fast enough to disk. Whether a frame was dropped is indicated by the return value of addFrame()

Public Member Functions
	RFSRecorder (const char *filename)
	Create recorder object. More...
	~RFSRecorder ()
	Destroy recorder object.
bool	init (int colorWidth, int colorHeight, int depthWidth, int depthHeight, const Mat3 &depthK, const Mat3 *colorK=nullptr, const Mat4 *depthToColorT=nullptr)
	Initialize image recorder. More...
bool	cleanup ()
	Free image recorder internal data and close output file.
void	start ()
	Start recording thread. Needs to be called before adding frames.
void	stop ()
	Stop recording thread. Will return after all images in the queue have been written.
bool	addFrame (const DepthImage &imgDepth, const ColorImage &imgColor)
	Add frame to file. More...

Constructor & Destructor Documentation

RFSRecorder()

RFSRecorder

(

const char *

filename

)

Create recorder object.

Parameters

filename

File name of file to record to

Member Function Documentation

init()

bool init	(	int	colorWidth,
		int	colorHeight,
		int	depthWidth,
		int	depthHeight,
		const Mat3 &	depthK,
		const Mat3 *	colorK = nullptr,
		const Mat4 *	depthToColorT = nullptr
	)

Initialize image recorder.

Parameters

colorWidth	Width of recorded color images
colorHeight	Height of recorded color images
depthWidth	Width of recorded depth images
depthHeight	Height of recorded depth images
depthK	Intrinsic depth camera parameters
colorK	Intrinsic color camera parameters (optional)
depthToColorT	Transformation from depth to color camera coordinate system (optional)

Returns

True if successful, false otherwise

addFrame()

bool addFrame	(	const DepthImage &	imgDepth,
		const ColorImage &	imgColor
	)

Add frame to file.

The images must have the same size passed to initialize()

Parameters

imgDepth	16-bit single channel depth image
imgColor	8-bit three channel RGB image

Returns

True when frame was added, false when frame was dropped

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The documentation for this class was generated from the following file:

• E:/BuildAgent/work/97cc5eac790048b1/RecFusionSDK/include/RFSRecorder.h