k4a.hpp

#ifndef K4A_HPP
#define K4A_HPP

#include "k4a.h"

#include <algorithm>
#include <chrono>
#include <cstdint>
#include <limits>
#include <stdexcept>
#include <string>
#include <vector>

namespace k4a
{

class error : public std::runtime_error
{
public:
    using runtime_error::runtime_error;
};

// Helper functions not intended for use by client code
//
namespace internal
{

template<typename output_type, typename input_type> output_type clamp_cast(input_type input)
{
    static_assert(std::is_arithmetic<input_type>::value, "clamp_cast only supports arithmetic types");
    static_assert(std::is_arithmetic<output_type>::value, "clamp_cast only supports arithmetic types");
    const input_type min_value = std::is_signed<input_type>() ?
                                     static_cast<input_type>(std::numeric_limits<output_type>::min()) :
                                     0;

    input_type max_value = static_cast<input_type>(std::numeric_limits<output_type>::max());
    if (max_value < 0)
    {
        // Output type is of greater or equal size to input type and we've overflowed.
        //
        max_value = std::numeric_limits<input_type>::max();
    }
    input = std::min(input, max_value);
    input = std::max(input, min_value);
    return static_cast<output_type>(input);
}
} // namespace internal

class image
{
public:
    image(k4a_image_t handle = nullptr) noexcept : m_handle(handle) {}

    image(const image &other) noexcept : m_handle(other.m_handle)
    {
        if (m_handle != nullptr)
        {
            k4a_image_reference(m_handle);
        }
    }

    image(image &&other) noexcept : m_handle(other.m_handle)
    {
        other.m_handle = nullptr;
    }

    ~image()
    {
        reset();
    }

    image &operator=(const image &other) noexcept
    {
        if (this != &other)
        {
            reset();
            m_handle = other.m_handle;
            if (m_handle != nullptr)
            {
                k4a_image_reference(m_handle);
            }
        }
        return *this;
    }

    image &operator=(image &&other) noexcept
    {
        if (this != &other)
        {
            reset();
            m_handle = other.m_handle;
            other.m_handle = nullptr;
        }
        return *this;
    }

    image &operator=(std::nullptr_t) noexcept
    {
        reset();
        return *this;
    }

    bool operator==(const image &other) const noexcept
    {
        return m_handle == other.m_handle;
    }

    bool operator==(std::nullptr_t) const noexcept
    {
        return m_handle == nullptr;
    }

    bool operator!=(const image &other) const noexcept
    {
        return m_handle != other.m_handle;
    }

    bool operator!=(std::nullptr_t) const noexcept
    {
        return m_handle != nullptr;
    }

    operator bool() const noexcept
    {
        return m_handle != nullptr;
    }

    k4a_image_t handle() const noexcept
    {
        return m_handle;
    }

    void reset() noexcept
    {
        if (m_handle != nullptr)
        {
            k4a_image_release(m_handle);
            m_handle = nullptr;
        }
    }

    static image create(k4a_image_format_t format, int width_pixels, int height_pixels, int stride_bytes)
    {
        k4a_image_t handle = nullptr;
        k4a_result_t result = k4a_image_create(format, width_pixels, height_pixels, stride_bytes, &handle);
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to create image!");
        }
        return image(handle);
    }

    static 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 handle = nullptr;
        k4a_result_t result = k4a_image_create_from_buffer(format,
                                                           width_pixels,
                                                           height_pixels,
                                                           stride_bytes,
                                                           buffer,
                                                           buffer_size,
                                                           buffer_release_cb,
                                                           buffer_release_cb_context,
                                                           &handle);
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to create image from buffer");
        }
        return image(handle);
    }

    uint8_t *get_buffer() noexcept
    {
        return k4a_image_get_buffer(m_handle);
    }

    const uint8_t *get_buffer() const noexcept
    {
        return k4a_image_get_buffer(m_handle);
    }

    size_t get_size() const noexcept
    {
        return k4a_image_get_size(m_handle);
    }

    k4a_image_format_t get_format() const noexcept
    {
        return k4a_image_get_format(m_handle);
    }

    int get_width_pixels() const noexcept
    {
        return k4a_image_get_width_pixels(m_handle);
    }

    int get_height_pixels() const noexcept
    {
        return k4a_image_get_height_pixels(m_handle);
    }

    int get_stride_bytes() const noexcept
    {
        return k4a_image_get_stride_bytes(m_handle);
    }

    std::chrono::microseconds get_device_timestamp() const noexcept
    {
        return std::chrono::microseconds(k4a_image_get_device_timestamp_usec(m_handle));
    }

    std::chrono::nanoseconds get_system_timestamp() const noexcept
    {
        return std::chrono::nanoseconds(k4a_image_get_system_timestamp_nsec(m_handle));
    }

    std::chrono::microseconds get_exposure() const noexcept
    {
        return std::chrono::microseconds(k4a_image_get_exposure_usec(m_handle));
    }

    uint32_t get_white_balance() const noexcept
    {
        return k4a_image_get_white_balance(m_handle);
    }

    uint32_t get_iso_speed() const noexcept
    {
        return k4a_image_get_iso_speed(m_handle);
    }

    void set_timestamp(std::chrono::microseconds timestamp) noexcept
    {
        k4a_image_set_device_timestamp_usec(m_handle, internal::clamp_cast<uint64_t>(timestamp.count()));
    }

    void set_exposure_time(std::chrono::microseconds exposure) noexcept
    {
        k4a_image_set_exposure_usec(m_handle, internal::clamp_cast<uint64_t>(exposure.count()));
    }

    void set_white_balance(uint32_t white_balance) noexcept
    {
        k4a_image_set_white_balance(m_handle, white_balance);
    }

    void set_iso_speed(uint32_t iso_speed) noexcept
    {
        k4a_image_set_iso_speed(m_handle, iso_speed);
    }

private:
    k4a_image_t m_handle;
};

class capture
{
public:
    capture(k4a_capture_t handle = nullptr) noexcept : m_handle(handle) {}

    capture(const capture &other) noexcept : m_handle(other.m_handle)
    {
        if (m_handle != nullptr)
        {
            k4a_capture_reference(m_handle);
        }
    }

    capture(capture &&other) noexcept : m_handle(other.m_handle)
    {
        other.m_handle = nullptr;
    }

    ~capture()
    {
        reset();
    }

    capture &operator=(const capture &other) noexcept
    {
        if (this != &other)
        {
            reset();
            m_handle = other.m_handle;
            if (m_handle != nullptr)
            {
                k4a_capture_reference(m_handle);
            }
        }
        return *this;
    }

    capture &operator=(capture &&other) noexcept
    {
        if (this != &other)
        {
            reset();
            m_handle = other.m_handle;
            other.m_handle = nullptr;
        }
        return *this;
    }

    capture &operator=(std::nullptr_t) noexcept
    {
        reset();
        return *this;
    }

    bool operator==(const capture &other) const noexcept
    {
        return m_handle == other.m_handle;
    }

    bool operator==(std::nullptr_t) const noexcept
    {
        return m_handle == nullptr;
    }

    bool operator!=(const capture &other) const noexcept
    {
        return m_handle != other.m_handle;
    }

    bool operator!=(std::nullptr_t) const noexcept
    {
        return m_handle != nullptr;
    }

    operator bool() const noexcept
    {
        return m_handle != nullptr;
    }

    void reset() noexcept
    {
        if (m_handle != nullptr)
        {
            k4a_capture_release(m_handle);
            m_handle = nullptr;
        }
    }

    image get_color_image() const noexcept
    {
        return image(k4a_capture_get_color_image(m_handle));
    }

    image get_depth_image() const noexcept
    {
        return image(k4a_capture_get_depth_image(m_handle));
    }

    image get_ir_image() const noexcept
    {
        return image(k4a_capture_get_ir_image(m_handle));
    }

    void set_color_image(const image &color_image) noexcept
    {
        k4a_capture_set_color_image(m_handle, color_image.handle());
    }

    void set_depth_image(const image &depth_image) noexcept
    {
        k4a_capture_set_depth_image(m_handle, depth_image.handle());
    }

    void set_ir_image(const image &ir_image) noexcept
    {
        k4a_capture_set_ir_image(m_handle, ir_image.handle());
    }

    void set_temperature_c(float temperature_c) noexcept
    {
        k4a_capture_set_temperature_c(m_handle, temperature_c);
    }

    float get_temperature_c() const noexcept
    {
        return k4a_capture_get_temperature_c(m_handle);
    }

    static capture create()
    {
        k4a_capture_t handle = nullptr;
        k4a_result_t result = k4a_capture_create(&handle);
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to create capture!");
        }
        return capture(handle);
    }

private:
    k4a_capture_t m_handle;
};

struct calibration : public k4a_calibration_t
{
    k4a_float3_t convert_3d_to_3d(const k4a_float3_t &source_point3d,
                                  k4a_calibration_type_t source_camera,
                                  k4a_calibration_type_t target_camera) const
    {
        k4a_float3_t target_point3d;
        k4a_result_t result =
            k4a_calibration_3d_to_3d(this, &source_point3d, source_camera, target_camera, &target_point3d);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Calibration contained invalid transformation parameters!");
        }
        return target_point3d;
    }

    bool convert_2d_to_3d(const k4a_float2_t &source_point2d,
                          float source_depth,
                          k4a_calibration_type_t source_camera,
                          k4a_calibration_type_t target_camera,
                          k4a_float3_t *target_point3d) const
    {
        int valid = 0;
        k4a_result_t result = k4a_calibration_2d_to_3d(
            this, &source_point2d, source_depth, source_camera, target_camera, target_point3d, &valid);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Calibration contained invalid transformation parameters!");
        }
        return static_cast<bool>(valid);
    }

    bool convert_3d_to_2d(const k4a_float3_t &source_point3d,
                          k4a_calibration_type_t source_camera,
                          k4a_calibration_type_t target_camera,
                          k4a_float2_t *target_point2d) const
    {
        int valid = 0;
        k4a_result_t result =
            k4a_calibration_3d_to_2d(this, &source_point3d, source_camera, target_camera, target_point2d, &valid);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Calibration contained invalid transformation parameters!");
        }
        return static_cast<bool>(valid);
    }

    bool convert_2d_to_2d(const k4a_float2_t &source_point2d,
                          float source_depth,
                          k4a_calibration_type_t source_camera,
                          k4a_calibration_type_t target_camera,
                          k4a_float2_t *target_point2d) const
    {
        int valid = 0;
        k4a_result_t result = k4a_calibration_2d_to_2d(
            this, &source_point2d, source_depth, source_camera, target_camera, target_point2d, &valid);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Calibration contained invalid transformation parameters!");
        }
        return static_cast<bool>(valid);
    }

    static calibration get_from_raw(char *raw_calibration,
                                    size_t raw_calibration_size,
                                    k4a_depth_mode_t depth_mode,
                                    k4a_color_resolution_t color_resolution)
    {
        calibration calib;
        k4a_result_t result =
            k4a_calibration_get_from_raw(raw_calibration, raw_calibration_size, depth_mode, color_resolution, &calib);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to load calibration from raw calibration blob!");
        }
        return calib;
    }

    static calibration get_from_raw(uint8_t *raw_calibration,
                                    size_t raw_calibration_size,
                                    k4a_depth_mode_t depth_mode,
                                    k4a_color_resolution_t color_resolution)
    {
        return get_from_raw(reinterpret_cast<char *>(raw_calibration),
                            raw_calibration_size,
                            depth_mode,
                            color_resolution);
    }

    static calibration get_from_raw(std::vector<uint8_t> &raw_calibration,
                                    k4a_depth_mode_t depth_mode,
                                    k4a_color_resolution_t color_resolution)
    {
        return get_from_raw(reinterpret_cast<char *>(raw_calibration.data()),
                            raw_calibration.size(),
                            depth_mode,
                            color_resolution);
    }
};

class transformation
{
public:
    transformation(const k4a_calibration_t &calibration) noexcept : m_handle(k4a_transformation_create(&calibration)) {}

    transformation(k4a_transformation_t handle = nullptr) noexcept : m_handle(handle) {}

    transformation(transformation &&other) noexcept : m_handle(other.m_handle)
    {
        other.m_handle = nullptr;
    }

    transformation(const transformation &) = delete;

    ~transformation()
    {
        destroy();
    }

    transformation &operator=(transformation &&other) noexcept
    {
        if (this != &other)
        {
            destroy();
            m_handle = other.m_handle;
            other.m_handle = nullptr;
        }

        return *this;
    }

    transformation &operator=(std::nullptr_t) noexcept
    {
        destroy();
        return *this;
    }

    transformation &operator=(const transformation &) = delete;

    void destroy() noexcept
    {
        if (m_handle != nullptr)
        {
            k4a_transformation_destroy(m_handle);
            m_handle = nullptr;
        }
    }

    void depth_image_to_color_camera(const image &depth_image, image *transformed_depth_image) const
    {
        k4a_result_t result = k4a_transformation_depth_image_to_color_camera(m_handle,
                                                                             depth_image.handle(),
                                                                             transformed_depth_image->handle());
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to convert depth map to color camera geometry!");
        }
    }

    void depth_image_to_color_camera_custom(const image &depth_image,
                                            const image &custom_image,
                                            image *transformed_depth_image,
                                            image *transformed_custom_image,
                                            k4a_transformation_interpolation_type_t interpolation_type,
                                            uint32_t invalid_custom_value) const
    {
        k4a_result_t result = k4a_transformation_depth_image_to_color_camera_custom(m_handle,
                                                                                    depth_image.handle(),
                                                                                    custom_image.handle(),
                                                                                    transformed_depth_image->handle(),
                                                                                    transformed_custom_image->handle(),
                                                                                    interpolation_type,
                                                                                    invalid_custom_value);
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to convert depth map and custom image to color camera geometry!");
        }
    }

    void color_image_to_depth_camera(const image &depth_image,
                                     const image &color_image,
                                     image *transformed_color_image) const
    {
        k4a_result_t result = k4a_transformation_color_image_to_depth_camera(m_handle,
                                                                             depth_image.handle(),
                                                                             color_image.handle(),
                                                                             transformed_color_image->handle());
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to convert color image to depth camera geometry!");
        }
    }

    void depth_image_to_point_cloud(const image &depth_image, k4a_calibration_type_t camera, image *xyz_image) const
    {
        k4a_result_t result =
            k4a_transformation_depth_image_to_point_cloud(m_handle, depth_image.handle(), camera, xyz_image->handle());
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to transform depth image to point cloud!");
        }
    }

private:
    k4a_transformation_t m_handle;
};

class device
{
public:
    device(k4a_device_t handle = nullptr) noexcept : m_handle(handle) {}

    device(device &&dev) noexcept : m_handle(dev.m_handle)
    {
        dev.m_handle = nullptr;
    }

    device(const device &) = delete;

    ~device()
    {
        close();
    }

    device &operator=(const device &) = delete;

    device &operator=(device &&dev) noexcept
    {
        if (this != &dev)
        {
            close();
            m_handle = dev.m_handle;
            dev.m_handle = nullptr;
        }
        return *this;
    }

    operator bool() const noexcept
    {
        return m_handle != nullptr;
    }

    void close() noexcept
    {
        if (m_handle != nullptr)
        {
            k4a_device_close(m_handle);
            m_handle = nullptr;
        }
    }

    bool get_capture(capture *cap, std::chrono::milliseconds timeout)
    {
        k4a_capture_t capture_handle = nullptr;
        int32_t timeout_ms = internal::clamp_cast<int32_t>(timeout.count());
        k4a_wait_result_t result = k4a_device_get_capture(m_handle, &capture_handle, timeout_ms);
        if (result == K4A_WAIT_RESULT_FAILED)
        {
            throw error("Failed to get capture from device!");
        }
        else if (result == K4A_WAIT_RESULT_TIMEOUT)
        {
            return false;
        }

        *cap = capture(capture_handle);
        return true;
    }

    bool get_imu_sample(k4a_imu_sample_t *imu_sample, std::chrono::milliseconds timeout)
    {
        int32_t timeout_ms = internal::clamp_cast<int32_t>(timeout.count());
        k4a_wait_result_t result = k4a_device_get_imu_sample(m_handle, imu_sample, timeout_ms);
        if (result == K4A_WAIT_RESULT_FAILED)
        {
            throw error("Failed to get IMU sample from device!");
        }
        else if (result == K4A_WAIT_RESULT_TIMEOUT)
        {
            return false;
        }

        return true;
    }

    void start_cameras(const k4a_device_configuration_t *configuration)
    {
        k4a_result_t result = k4a_device_start_cameras(m_handle, configuration);
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to start cameras!");
        }
    }

    void stop_cameras() noexcept
    {
        k4a_device_stop_cameras(m_handle);
    }

    void start_imu()
    {
        k4a_result_t result = k4a_device_start_imu(m_handle);
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to start IMU!");
        }
    }

    void stop_imu() noexcept
    {
        k4a_device_stop_imu(m_handle);
    }

    std::string get_serialnum() const
    {
        std::string serialnum;
        size_t buffer = 0;
        k4a_buffer_result_t result = k4a_device_get_serialnum(m_handle, &serialnum[0], &buffer);

        if (result == K4A_BUFFER_RESULT_TOO_SMALL && buffer > 1)
        {
            serialnum.resize(buffer);
            result = k4a_device_get_serialnum(m_handle, &serialnum[0], &buffer);
            if (result == K4A_BUFFER_RESULT_SUCCEEDED && serialnum[buffer - 1] == 0)
            {
                // std::string expects there to not be as null terminator at the end of its data but
                // k4a_device_get_serialnum adds a null terminator, so we drop the last character of the string after we
                // get the result back.
                serialnum.resize(buffer - 1);
            }
        }

        if (result != K4A_BUFFER_RESULT_SUCCEEDED)
        {
            throw error("Failed to read device serial number!");
        }

        return serialnum;
    }

    void get_color_control(k4a_color_control_command_t command, k4a_color_control_mode_t *mode, int32_t *value) const
    {
        k4a_result_t result = k4a_device_get_color_control(m_handle, command, mode, value);
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to read color control!");
        }
    }

    void set_color_control(k4a_color_control_command_t command, k4a_color_control_mode_t mode, int32_t value)
    {
        k4a_result_t result = k4a_device_set_color_control(m_handle, command, mode, value);
        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to set color control!");
        }
    }

    std::vector<uint8_t> get_raw_calibration() const
    {
        std::vector<uint8_t> calibration;
        size_t buffer = 0;
        k4a_buffer_result_t result = k4a_device_get_raw_calibration(m_handle, &calibration[0], &buffer);

        if (result == K4A_BUFFER_RESULT_TOO_SMALL && buffer > 1)
        {
            calibration.resize(buffer);
            result = k4a_device_get_raw_calibration(m_handle, &calibration[0], &buffer);
        }

        if (result != K4A_BUFFER_RESULT_SUCCEEDED)
        {
            throw error("Failed to read raw device calibration!");
        }

        return calibration;
    }

    calibration get_calibration(k4a_depth_mode_t depth_mode, k4a_color_resolution_t color_resolution) const
    {
        calibration calib;
        k4a_result_t result = k4a_device_get_calibration(m_handle, depth_mode, color_resolution, &calib);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to read device calibration!");
        }
        return calib;
    }

    bool is_sync_in_connected() const
    {
        bool sync_in_jack_connected, sync_out_jack_connected;
        k4a_result_t result = k4a_device_get_sync_jack(m_handle, &sync_in_jack_connected, &sync_out_jack_connected);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to read sync jack status!");
        }
        return sync_in_jack_connected;
    }

    bool is_sync_out_connected() const
    {
        bool sync_in_jack_connected, sync_out_jack_connected;
        k4a_result_t result = k4a_device_get_sync_jack(m_handle, &sync_in_jack_connected, &sync_out_jack_connected);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to read sync jack status!");
        }
        return sync_out_jack_connected;
    }

    k4a_hardware_version_t get_version() const
    {
        k4a_hardware_version_t version;
        k4a_result_t result = k4a_device_get_version(m_handle, &version);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to read device firmware information!");
        }
        return version;
    }

    static device open(uint32_t index)
    {
        k4a_device_t handle = nullptr;
        k4a_result_t result = k4a_device_open(index, &handle);

        if (K4A_RESULT_SUCCEEDED != result)
        {
            throw error("Failed to open device!");
        }
        return device(handle);
    }

    static uint32_t get_installed_count() noexcept
    {
        return k4a_device_get_installed_count();
    }

private:
    k4a_device_t m_handle;
};

} // namespace k4a

#endif