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41 lines
3.2 KiB
41 lines
3.2 KiB
2 months ago
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/* License: Apache 2.0. See LICENSE file in root directory.
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Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
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#include "pyrealsense2.h"
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#include <librealsense2/hpp/rs_record_playback.hpp>
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void init_record_playback(py::module &m) {
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/** rs_record_playback.hpp **/
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// Not binding status_changed_callback, templated
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py::class_<rs2::playback, rs2::device> playback(m, "playback"); // No docstring in C++
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playback.def(py::init<rs2::device>(), "device"_a)
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.def("pause", &rs2::playback::pause, "Pauses the playback. Calling pause() in \"Paused\" status does nothing. If "
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"pause() is called while playback status is \"Playing\" or \"Stopped\", the playback will not play until resume() is called.")
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.def("resume", &rs2::playback::resume, "Un-pauses the playback. Calling resume() while playback status is \"Playing\" or \"Stopped\" does nothing.")
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.def("file_name", &rs2::playback::file_name, "The name of the playback file.")
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.def("get_position", &rs2::playback::get_position, "Retrieves the current position of the playback in the file in terms of time. Units are expressed in nanoseconds.")
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.def("get_duration", &rs2::playback::get_duration, "Retrieves the total duration of the file.")
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.def("seek", &rs2::playback::seek, "Sets the playback to a specified time point of the played data.", "time"_a)
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.def("is_real_time", &rs2::playback::is_real_time, "Indicates if playback is in real time mode or non real time.")
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.def("set_real_time", &rs2::playback::set_real_time, "Set the playback to work in real time or non real time. In real time mode, playback will "
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"play the same way the file was recorded. If the application takes too long to handle the callback, frames may be dropped. In non real time "
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"mode, playback will wait for each callback to finish handling the data before reading the next frame. In this mode no frames will be dropped, "
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"and the application controls the framerate of playback via callback duration.", "real_time"_a)
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// set_playback_speed?
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.def("set_status_changed_callback", [](rs2::playback& self, std::function<void(rs2_playback_status)> callback) {
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self.set_status_changed_callback(callback);
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}, "Register to receive callback from playback device upon its status changes. Callbacks are invoked from the reading thread, "
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"and as such any heavy processing in the callback handler will affect the reading thread and may cause frame drops/high latency.", "callback"_a)
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.def("current_status", &rs2::playback::current_status, "Returns the current state of the playback device");
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// Stop?
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py::class_<rs2::recorder, rs2::device> recorder(m, "recorder", "Records the given device and saves it to the given file as rosbag format.");
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recorder.def(py::init<const std::string&, rs2::device>())
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.def(py::init<const std::string&, rs2::device, bool>())
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.def("pause", &rs2::recorder::pause, "Pause the recording device without stopping the actual device from streaming.")
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.def("resume", &rs2::recorder::resume, "Unpauses the recording device, making it resume recording.");
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// filename?
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/** end rs_record_playback.hpp **/
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}
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