converter-png.hpp

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2018 Intel Corporation. All Rights Reserved.
 
#ifndef __RS_CONVERTER_CONVERTER_PNG_H
#define __RS_CONVERTER_CONVERTER_PNG_H
 
 
// 3rd party header for writing png files
#define STB_IMAGE_WRITE_IMPLEMENTATION
#include "stb_image_write.h"
 
#include "../converter.hpp"
 
 
namespace rs2 {
    namespace tools {
        namespace converter {
 
            class converter_png : public converter_base {
                rs2_stream _streamType;
                std::string _filePath;
                rs2::colorizer _colorizer;
 
            public:
                converter_png(const std::string& filePath, rs2_stream streamType = rs2_stream::RS2_STREAM_ANY)
                    : _filePath(filePath)
                    , _streamType(streamType)
                {
                }
 
                std::string name() const override
                {
                    return "PNG converter";
                }
 
                void convert(rs2::frame& frame) override
                {
                    rs2::video_frame videoframe = frame.as<rs2::video_frame>();
                    if (!videoframe || !(_streamType == rs2_stream::RS2_STREAM_ANY || videoframe.get_profile().stream_type() == _streamType)) {
                        return;
                    }
 
                    if (frames_map_get_and_set(videoframe.get_profile().stream_type(), 
                        static_cast<rs2::tools::converter::frame_number_t>(videoframe.get_timestamp()))) {
                        return;
                    }
 
                    start_worker(
                        [this, &frame] {
                            rs2::video_frame videoframe = frame.as<rs2::video_frame>();
 
                            if (videoframe.get_profile().stream_type() == rs2_stream::RS2_STREAM_DEPTH) {
                                videoframe = _colorizer.process(videoframe);
                            }
 
                            std::stringstream filename;
                            filename << _filePath
                                << "_" << videoframe.get_profile().stream_name()
                                << "_" << std::setprecision(14) << std::fixed << videoframe.get_timestamp()
                                << ".png";
 
                            std::stringstream metadata_file;
                            metadata_file << _filePath
                                << "_" << videoframe.get_profile().stream_name()
                                << "_metadata_" << std::setprecision(14) << std::fixed << videoframe.get_timestamp()
                                << ".txt";
 
                            std::string filenameS = filename.str();
                            std::string metadataS = metadata_file.str();
 
                            add_sub_worker(
                                [filenameS, metadataS, videoframe] {
                                    stbi_write_png(
                                        filenameS.c_str()
                                        , videoframe.get_width()
                                        , videoframe.get_height()
                                        , videoframe.get_bytes_per_pixel()
                                        , videoframe.get_data()
                                        , videoframe.get_stride_in_bytes()
                                    );
 
                                    metadata_to_txtfile(videoframe, metadataS);
                            });
 
                            wait_sub_workers();
                    });
                }
            };
 
        }
    }
}
 
 
#endif