RSBagReader.h

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#pragma once

#include <atomic>
#include <condition_variable>
#include <string>
#include <thread>
#include <unordered_map>
#include <vector>

#include "open3d/io/sensor/RGBDSensorConfig.h"
#include "open3d/t/io/sensor/RGBDVideoReader.h"
#include "open3d/utility/IJsonConvertible.h"

// Forward declarations for librealsense classes
namespace rs2 {
class pipeline;
}  // namespace rs2

namespace open3d {
namespace t {
namespace io {

class RSBagReader : public RGBDVideoReader {
public:
    static const size_t DEFAULT_BUFFER_SIZE = 32;

    explicit RSBagReader(size_t buffer_size = DEFAULT_BUFFER_SIZE);

    RSBagReader(const RSBagReader &) = delete;
    RSBagReader &operator=(const RSBagReader &) = delete;
    virtual ~RSBagReader();

    virtual bool IsOpened() const override { return is_opened_; }

    virtual bool IsEOF() const override;

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

    virtual void Close() override;

    virtual const RGBDVideoMetadata &GetMetadata() const override {
        return metadata_;
    }

    virtual RGBDVideoMetadata &GetMetadata() override { return metadata_; }

    virtual bool SeekTimestamp(uint64_t timestamp) override;

    virtual uint64_t GetTimestamp() const override;

    virtual t::geometry::RGBDImage NextFrame() override;

    virtual std::string GetFilename() const override { return filename_; };

    using RGBDVideoReader::SaveFrames;
    using RGBDVideoReader::ToString;

private:
    std::string filename_;
    RGBDVideoMetadata metadata_;

    std::atomic<bool> is_eof_{false};     // Write by frame_reader_thread.
    std::atomic<bool> is_opened_{false};  // Read by frame_reader_thread.
    std::vector<t::geometry::RGBDImage> frame_buffer_;
    std::vector<uint64_t>
            frame_position_us_;  
    static const size_t BUFFER_REFILL_FACTOR =
            4;  
    std::atomic<uint64_t> head_fid_{
            0};  
    std::atomic<uint64_t> tail_fid_{0};  
    std::atomic<uint64_t> seek_to_{UINT64_MAX};
    std::condition_variable need_frames_;
    void fill_frame_buffer();
    std::thread frame_reader_thread_;

    std::unique_ptr<rs2::pipeline> pipe_;

    Json::Value GetMetadataJson();
    std::string GetTagInMetadata(const std::string &tag_name);
};
}  // namespace io
}  // namespace t
}  // namespace open3d