RGBDVideoReader.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "open3d/io/sensor/RGBDSensorConfig.h"
#include "open3d/t/geometry/RGBDImage.h"
#include "open3d/t/io/sensor/RGBDVideoMetadata.h"
 
namespace open3d {
namespace t {
namespace io {
 
class RGBDVideoReader {
public:
    RGBDVideoReader() {}
    virtual ~RGBDVideoReader() {}

    virtual bool IsOpened() const = 0;

    virtual bool IsEOF() const = 0;

    virtual bool Open(const std::string &filename) = 0;

    virtual void Close() = 0;

    virtual RGBDVideoMetadata &GetMetadata() = 0;

    virtual const RGBDVideoMetadata &GetMetadata() const = 0;

    virtual bool SeekTimestamp(uint64_t timestamp) = 0;

    virtual uint64_t GetTimestamp() const = 0;

    virtual t::geometry::RGBDImage NextFrame() = 0;

    //
    //
    virtual void SaveFrames(const std::string &frame_path,
                            uint64_t start_time_us = 0,
                            uint64_t end_time_us = UINT64_MAX);

    virtual std::string GetFilename() const = 0;

    virtual std::string ToString() const;

    static std::unique_ptr<RGBDVideoReader> Create(const std::string &filename);
};
 
}  // namespace io
}  // namespace t
}  // namespace open3d