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K4aPlugin.cpp
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K4aPlugin.cpp
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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include <k4a/k4a.h>
#include <k4arecord/playback.h>
#include <k4arecord/record.h>
#include <cstdlib>
#include <cstring>
#include <unordered_map>
#include <vector>
#ifdef _WIN32
#include <windows.h>
#else
#include <dlfcn.h>
#include <link.h>
#endif
#include "open3d/io/sensor/azure_kinect/K4aPlugin.h"
#include "open3d/io/sensor/azure_kinect/PluginMacros.h"
#include "open3d/utility/Console.h"
#include "open3d/utility/Helper.h"
namespace open3d {
namespace io {
namespace k4a_plugin {
#ifdef _WIN32
static const std::string k4a_lib_name = "k4a.dll";
static const std::string k4arecord_lib_name = "k4arecord.dll";
static HINSTANCE GetDynamicLibHandle(const std::string& lib_name) {
static std::unordered_map<std::string, HINSTANCE> map_lib_name_to_handle;
if (map_lib_name_to_handle.count(lib_name) == 0) {
// clang-format off
// To use custom library path for K4a, set environment variable K4A_LIB_DIR
// Exammple:
// set K4A_LIB_DIR=C:\Program Files\Azure Kinect SDK v1.2.0\sdk\windows-desktop\amd64\release\bin
// Note that double qoutes and "\\" are not needed
std::string env_lib_dir = "";
char const* temp = std::getenv("K4A_LIB_DIR");
if (temp != nullptr) {
env_lib_dir = std::string(temp);
}
utility::LogDebug("Environment variable K4A_LIB_DIR: {}", env_lib_dir);
static const std::vector<std::string> k4a_lib_path_hints = {
env_lib_dir,
"",
"C:\\Program Files\\Azure Kinect SDK v1.4.1\\sdk\\windows-desktop\\amd64\\release\\bin",
"C:\\Program Files\\Azure Kinect SDK v1.4.0\\sdk\\windows-desktop\\amd64\\release\\bin",
"C:\\Program Files\\Azure Kinect SDK v1.3.0\\sdk\\windows-desktop\\amd64\\release\\bin",
"C:\\Program Files\\Azure Kinect SDK v1.2.0\\sdk\\windows-desktop\\amd64\\release\\bin"
};
// clang-format on
HINSTANCE handle = NULL;
for (const std::string& k4a_lib_path_hint : k4a_lib_path_hints) {
utility::LogDebug("Trying k4a_lib_path_hint: {}",
k4a_lib_path_hint);
std::string full_path = k4a_lib_path_hint + "\\" + lib_name;
handle = LoadLibrary(TEXT(full_path.c_str()));
if (handle != NULL) {
utility::LogDebug("Loaded {}", full_path);
break;
}
}
if (handle == NULL) {
utility::LogError("Cannot load {}", lib_name);
}
map_lib_name_to_handle[lib_name] = handle;
}
return map_lib_name_to_handle.at(lib_name);
}
#define DEFINE_BRIDGED_FUNC_WITH_COUNT(lib_name, return_type, f_name, \
num_args, ...) \
return_type f_name(EXTRACT_TYPES_PARAMS(num_args, __VA_ARGS__)) { \
typedef return_type (*f_type)( \
EXTRACT_TYPES_PARAMS(num_args, __VA_ARGS__)); \
static f_type f = nullptr; \
\
if (!f) { \
f = (f_type)GetProcAddress(GetDynamicLibHandle(lib_name), \
#f_name); \
if (f == nullptr) { \
utility::LogError("Cannot load func {}", #f_name); \
} else { \
utility::LogDebug("Loaded func {}", #f_name); \
} \
} \
return f(EXTRACT_PARAMS(num_args, __VA_ARGS__)); \
}
#else
static const std::string k4a_lib_name = "libk4a.so";
static const std::string k4arecord_lib_name = "libk4arecord.so";
static void* GetDynamicLibHandle(const std::string& lib_name) {
static std::unordered_map<std::string, void*> map_lib_name_to_handle;
if (map_lib_name_to_handle.count(lib_name) == 0) {
// Hack to support Ubuntu 16.04 K4A library loading
//
// Dependency:
// In __init__.py Python file, one of os.environ['LD_LIBRARY_PATH'] is
// set to contain libk4a.so, libk4arecord.so and libdepthengine.so.
//
// Normally LD_LIBRARY_PATH cannot be set at runtime (only possible at
// program load time). Here we explicitly try to load from
// LD_LIBRARY_PATH.
std::vector<std::string> k4a_lib_path_hints;
if (const char* ld_paths_c = std::getenv("LD_LIBRARY_PATH")) {
utility::SplitString(k4a_lib_path_hints, ld_paths_c, ":", true);
}
k4a_lib_path_hints.insert(k4a_lib_path_hints.begin(), "");
void* handle = nullptr;
std::string full_path;
for (const std::string& k4a_lib_path_hint : k4a_lib_path_hints) {
if (k4a_lib_path_hint == "") {
full_path = lib_name;
} else {
full_path = k4a_lib_path_hint + "/" + lib_name;
}
handle = dlopen(full_path.c_str(), RTLD_NOW);
if (handle != NULL) {
break;
}
}
if (!handle) {
utility::LogError("Cannot load {}", dlerror());
} else {
utility::LogDebug("Loaded {}", full_path);
struct link_map* map = nullptr;
if (!dlinfo(handle, RTLD_DI_LINKMAP, &map)) {
if (map != nullptr) {
utility::LogDebug("Library path {}", map->l_name);
} else {
utility::LogWarning("Cannot get link_map");
}
} else {
utility::LogWarning("Cannot get dlinfo");
}
}
map_lib_name_to_handle[lib_name] = handle;
}
return map_lib_name_to_handle.at(lib_name);
}
#define DEFINE_BRIDGED_FUNC_WITH_COUNT(lib_name, return_type, f_name, \
num_args, ...) \
return_type f_name(EXTRACT_TYPES_PARAMS(num_args, __VA_ARGS__)) { \
typedef return_type (*f_type)( \
EXTRACT_TYPES_PARAMS(num_args, __VA_ARGS__)); \
static f_type f = nullptr; \
\
if (!f) { \
f = (f_type)dlsym(GetDynamicLibHandle(lib_name), #f_name); \
if (!f) { \
utility::LogError("Cannot load {}: {}", #f_name, dlerror()); \
} \
} \
return f(EXTRACT_PARAMS(num_args, __VA_ARGS__)); \
}
#endif
#define DEFINE_BRIDGED_FUNC(lib_name, return_type, f_name, ...) \
DEFINE_BRIDGED_FUNC_WITH_COUNT(lib_name, return_type, f_name, \
COUNT_ARGS(__VA_ARGS__), __VA_ARGS__)
////////////////////////////////////////////////////////////////////////////////
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_record_create,
const char*,
path,
k4a_device_t,
device,
const k4a_device_configuration_t,
device_config,
k4a_record_t*,
recording_handle)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_record_add_tag,
k4a_record_t,
recording_handle,
const char*,
name,
const char*,
value)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_record_add_imu_track,
k4a_record_t,
recording_handle)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_record_write_header,
k4a_record_t,
recording_handle)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_record_write_capture,
k4a_record_t,
recording_handle,
k4a_capture_t,
capture_handle)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_record_write_imu_sample,
k4a_record_t,
recording_handle,
k4a_imu_sample_t,
imu_sample)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_record_flush,
k4a_record_t,
recording_handle)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
void,
k4a_record_close,
k4a_record_t,
recording_handle)
////////////////////////////////////////////////////////////////////////////////
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_playback_open,
const char*,
path,
k4a_playback_t*,
playback_handle)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_buffer_result_t,
k4a_playback_get_raw_calibration,
k4a_playback_t,
playback_handle,
uint8_t*,
data,
size_t*,
data_size)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_playback_get_calibration,
k4a_playback_t,
playback_handle,
k4a_calibration_t*,
calibration)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_playback_get_record_configuration,
k4a_playback_t,
playback_handle,
k4a_record_configuration_t*,
config)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_buffer_result_t,
k4a_playback_get_tag,
k4a_playback_t,
playback_handle,
const char*,
name,
char*,
value,
size_t*,
value_size)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_playback_set_color_conversion,
k4a_playback_t,
playback_handle,
k4a_image_format_t,
target_format)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_stream_result_t,
k4a_playback_get_next_capture,
k4a_playback_t,
playback_handle,
k4a_capture_t*,
capture_handle)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_stream_result_t,
k4a_playback_get_previous_capture,
k4a_playback_t,
playback_handle,
k4a_capture_t*,
capture_handle)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_stream_result_t,
k4a_playback_get_next_imu_sample,
k4a_playback_t,
playback_handle,
k4a_imu_sample_t*,
imu_sample)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_stream_result_t,
k4a_playback_get_previous_imu_sample,
k4a_playback_t,
playback_handle,
k4a_imu_sample_t*,
imu_sample)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
k4a_result_t,
k4a_playback_seek_timestamp,
k4a_playback_t,
playback_handle,
int64_t,
offset_usec,
k4a_playback_seek_origin_t,
origin)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
uint64_t,
k4a_playback_get_last_timestamp_usec,
k4a_playback_t,
playback_handle)
DEFINE_BRIDGED_FUNC(k4arecord_lib_name,
void,
k4a_playback_close,
k4a_playback_t,
playback_handle)
////////////////////////////////////////////////////////////////////////////////
DEFINE_BRIDGED_FUNC(k4a_lib_name, uint32_t, k4a_device_get_installed_count)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_set_debug_message_handler,
k4a_logging_message_cb_t*,
message_cb,
void*,
message_cb_context,
k4a_log_level_t,
min_level)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_device_open,
uint32_t,
index,
k4a_device_t*,
device_handle)
DEFINE_BRIDGED_FUNC(
k4a_lib_name, void, k4a_device_close, k4a_device_t, device_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_wait_result_t,
k4a_device_get_capture,
k4a_device_t,
device_handle,
k4a_capture_t*,
capture_handle,
int32_t,
timeout_in_ms)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_wait_result_t,
k4a_device_get_imu_sample,
k4a_device_t,
device_handle,
k4a_imu_sample_t*,
imu_sample,
int32_t,
timeout_in_ms)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_capture_create,
k4a_capture_t*,
capture_handle)
DEFINE_BRIDGED_FUNC(
k4a_lib_name, void, k4a_capture_release, k4a_capture_t, capture_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_capture_reference,
k4a_capture_t,
capture_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_image_t,
k4a_capture_get_color_image,
k4a_capture_t,
capture_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_image_t,
k4a_capture_get_depth_image,
k4a_capture_t,
capture_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_image_t,
k4a_capture_get_ir_image,
k4a_capture_t,
capture_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_capture_set_color_image,
k4a_capture_t,
capture_handle,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_capture_set_depth_image,
k4a_capture_t,
capture_handle,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_capture_set_ir_image,
k4a_capture_t,
capture_handle,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_capture_set_temperature_c,
k4a_capture_t,
capture_handle,
float,
temperature_c)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
float,
k4a_capture_get_temperature_c,
k4a_capture_t,
capture_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_image_create,
k4a_image_format_t,
format,
int,
width_pixels,
int,
height_pixels,
int,
stride_bytes,
k4a_image_t*,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
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)
DEFINE_BRIDGED_FUNC(
k4a_lib_name, uint8_t*, k4a_image_get_buffer, k4a_image_t, image_handle)
DEFINE_BRIDGED_FUNC(
k4a_lib_name, size_t, k4a_image_get_size, k4a_image_t, image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_image_format_t,
k4a_image_get_format,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
int,
k4a_image_get_width_pixels,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
int,
k4a_image_get_height_pixels,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
int,
k4a_image_get_stride_bytes,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
uint64_t,
k4a_image_get_timestamp_usec,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
uint64_t,
k4a_image_get_exposure_usec,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
uint32_t,
k4a_image_get_white_balance,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
uint32_t,
k4a_image_get_iso_speed,
k4a_image_t,
image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_image_set_timestamp_usec,
k4a_image_t,
image_handle,
uint64_t,
timestamp_usec)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_image_set_exposure_time_usec,
k4a_image_t,
image_handle,
uint64_t,
exposure_usec)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_image_set_white_balance,
k4a_image_t,
image_handle,
uint32_t,
white_balance)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_image_set_iso_speed,
k4a_image_t,
image_handle,
uint32_t,
iso_speed)
DEFINE_BRIDGED_FUNC(
k4a_lib_name, void, k4a_image_reference, k4a_image_t, image_handle)
DEFINE_BRIDGED_FUNC(
k4a_lib_name, void, k4a_image_release, k4a_image_t, image_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_device_start_cameras,
k4a_device_t,
device_handle,
k4a_device_configuration_t*,
config)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_device_stop_cameras,
k4a_device_t,
device_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_device_start_imu,
k4a_device_t,
device_handle)
DEFINE_BRIDGED_FUNC(
k4a_lib_name, void, k4a_device_stop_imu, k4a_device_t, device_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_buffer_result_t,
k4a_device_get_serialnum,
k4a_device_t,
device_handle,
char*,
serial_number,
size_t*,
serial_number_size)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_device_get_version,
k4a_device_t,
device_handle,
k4a_hardware_version_t*,
version)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_device_get_color_control_capabilities,
k4a_device_t,
device_handle,
k4a_color_control_command_t,
command,
bool*,
supports_auto,
int32_t*,
min_value,
int32_t*,
max_value,
int32_t*,
step_value,
int32_t*,
default_value,
k4a_color_control_mode_t*,
default_mode)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_device_get_color_control,
k4a_device_t,
device_handle,
k4a_color_control_command_t,
command,
k4a_color_control_mode_t*,
mode,
int32_t*,
value)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_device_set_color_control,
k4a_device_t,
device_handle,
k4a_color_control_command_t,
command,
k4a_color_control_mode_t,
mode,
int32_t,
value)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_buffer_result_t,
k4a_device_get_raw_calibration,
k4a_device_t,
device_handle,
uint8_t*,
data,
size_t*,
data_size)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_device_get_calibration,
k4a_device_t,
device_handle,
const k4a_depth_mode_t,
depth_mode,
const k4a_color_resolution_t,
color_resolution,
k4a_calibration_t*,
calibration)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_device_get_sync_jack,
k4a_device_t,
device_handle,
bool*,
sync_in_jack_connected,
bool*,
sync_out_jack_connected)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
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)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_calibration_3d_to_3d,
const k4a_calibration_t*,
calibration,
const k4a_float3_t*,
source_point3d_mm,
const k4a_calibration_type_t,
source_camera,
const k4a_calibration_type_t,
target_camera,
k4a_float3_t*,
target_point3d_mm)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_calibration_2d_to_3d,
const k4a_calibration_t*,
calibration,
const k4a_float2_t*,
source_point2d,
const float,
source_depth_mm,
const k4a_calibration_type_t,
source_camera,
const k4a_calibration_type_t,
target_camera,
k4a_float3_t*,
target_point3d_mm,
int*,
valid)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_calibration_3d_to_2d,
const k4a_calibration_t*,
calibration,
const k4a_float3_t*,
source_point3d_mm,
const k4a_calibration_type_t,
source_camera,
const k4a_calibration_type_t,
target_camera,
k4a_float2_t*,
target_point2d,
int*,
valid)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_calibration_2d_to_2d,
const k4a_calibration_t*,
calibration,
const k4a_float2_t*,
source_point2d,
const float,
source_depth_mm,
const k4a_calibration_type_t,
source_camera,
const k4a_calibration_type_t,
target_camera,
k4a_float2_t*,
target_point2d,
int*,
valid)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_transformation_t,
k4a_transformation_create,
const k4a_calibration_t*,
calibration)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
void,
k4a_transformation_destroy,
k4a_transformation_t,
transformation_handle)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_transformation_depth_image_to_color_camera,
k4a_transformation_t,
transformation_handle,
const k4a_image_t,
depth_image,
k4a_image_t,
transformed_depth_image)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_transformation_color_image_to_depth_camera,
k4a_transformation_t,
transformation_handle,
const k4a_image_t,
depth_image,
const k4a_image_t,
color_image,
k4a_image_t,
transformed_color_image)
DEFINE_BRIDGED_FUNC(k4a_lib_name,
k4a_result_t,
k4a_transformation_depth_image_to_point_cloud,
k4a_transformation_t,
transformation_handle,
const k4a_image_t,
depth_image,
const k4a_calibration_type_t,
camera,
k4a_image_t,
xyz_image)
} // namespace k4a_plugin
} // namespace io
} // namespace open3d