rs-convert - imu and pose support added for csv converter

tools/convert/CMakeLists.txt

@@ -11,8 +11,10 @@ find_package(Threads REQUIRED)
 
 add_executable(${RS_TARGET} rs-convert.cpp
     converter.hpp
+    converter.cpp
     converters/converter-bin.hpp
     converters/converter-csv.hpp
+    converters/converter-csv.cpp
     converters/converter-ply.hpp
     converters/converter-png.hpp
     converters/converter-raw.hpp

tools/convert/converter.cpp

@@ -0,0 +1,77 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2021 Intel Corporation. All Rights Reserved.
+
+#include <fstream>
+#include "converter.hpp"
+
+using namespace rs2::tools::converter;
+
+void rs2::tools::converter::metadata_to_txtfile(const rs2::frame& frm, const std::string& filename)
+{
+    std::ofstream file;
+
+    file.open(filename);
+
+    file << "Stream: " << rs2_stream_to_string(frm.get_profile().stream_type()) << "\n";
+
+    // Record all the available metadata attributes
+    for (size_t i = 0; i < RS2_FRAME_METADATA_COUNT; i++)
+    {
+        rs2_frame_metadata_value metadata_val = (rs2_frame_metadata_value)i;
+        if (frm.supports_frame_metadata(metadata_val))
+        {
+            file << rs2_frame_metadata_to_string(metadata_val) << ": "
+                << frm.get_frame_metadata(metadata_val) << "\n";
+        }
+    }
+
+    file.close();
+}
+
+bool converter_base::frames_map_get_and_set(rs2_stream streamType, frame_number_t frameNumber)
+{
+    if (_framesMap.find(streamType) == _framesMap.end()) {
+        _framesMap.emplace(streamType, std::unordered_set<frame_number_t>());
+    }
+
+    auto& set = _framesMap[streamType];
+    bool result = (set.find(frameNumber) != set.end());
+
+    if (!result) {
+        set.emplace(frameNumber);
+    }
+
+    return result;
+}
+
+void converter_base::wait_sub_workers()
+{
+    for_each(_subWorkers.begin(), _subWorkers.end(),
+        [](std::thread& t) {
+            t.join();
+        });
+
+    _subWorkers.clear();
+}
+
+void converter_base::wait()
+{
+    _worker.join();
+}
+
+std::string converter_base::get_statistics()
+{
+    std::stringstream result;
+    result << name() << '\n';
+
+    for (auto& i : _framesMap) {
+        result << '\t'
+            << i.second.size() << ' '
+            << (static_cast<rs2_stream>(i.first) != rs2_stream::RS2_STREAM_ANY ? rs2_stream_to_string(static_cast<rs2_stream>(i.first)) : "")
+            << " frame(s) processed"
+            << '\n';
+    }
+
+    return (result.str());
+}
+

tools/convert/converter.hpp

@@ -9,6 +9,7 @@
 #include <thread>
 #include <string>
 #include <sstream>
+#include <algorithm>
 
 #include "librealsense2/rs.hpp"
 
@@ -17,27 +18,7 @@ namespace rs2 {
     namespace tools {
         namespace converter {
 
-            void metadata_to_txtfile(const rs2::frame& frm, const std::string& filename)
-            {
-                std::ofstream file;
-
-                file.open(filename);
-
-                file << "Stream: " << rs2_stream_to_string(frm.get_profile().stream_type()) << "\n";
-
-                // Record all the available metadata attributes
-                for (size_t i = 0; i < RS2_FRAME_METADATA_COUNT; i++)
-                {
-                    rs2_frame_metadata_value metadata_val = (rs2_frame_metadata_value)i;
-                    if (frm.supports_frame_metadata(metadata_val))
-                    {
-                        file << rs2_frame_metadata_to_string(metadata_val) << ": "
-                            << frm.get_frame_metadata(metadata_val) << "\n";
-                    }
-                }
-
-                file.close();
-            }
+            void metadata_to_txtfile(const rs2::frame& frm, const std::string& filename);
 
             typedef unsigned long long frame_number_t;
 
@@ -48,21 +29,8 @@ namespace rs2 {
                 std::unordered_map<int, std::unordered_set<frame_number_t>> _framesMap;
 
             protected:
-                bool frames_map_get_and_set(rs2_stream streamType, frame_number_t frameNumber)
-                {
-                    if (_framesMap.find(streamType) == _framesMap.end()) {
-                        _framesMap.emplace(streamType, std::unordered_set<frame_number_t>());
-                    }
-
-                    auto & set = _framesMap[streamType];
-                    bool result = (set.find(frameNumber) != set.end());
-
-                    if (!result) {
-                        set.emplace(frameNumber);
-                    }
-
-                    return result;
-                }
+                bool frames_map_get_and_set(rs2_stream streamType, frame_number_t frameNumber);
+                void wait_sub_workers();
 
                 template <typename F> void start_worker(const F& f)
                 {
@@ -74,40 +42,13 @@ namespace rs2 {
                     _subWorkers.emplace_back(f);
                 }
 
-                void wait_sub_workers()
-                {
-                    for_each(_subWorkers.begin(), _subWorkers.end(),
-                        [] (std::thread& t) {
-                            t.join();
-                        });
-
-                    _subWorkers.clear();
-                }
-
             public:
                 virtual void convert(rs2::frame& frame) = 0;
                 virtual std::string name() const = 0;
 
-                virtual std::string get_statistics()
-                {
-                    std::stringstream result;
-                    result << name() << '\n';
-
-                    for (auto& i : _framesMap) {
-                        result << '\t'
-                            << i.second.size() << ' '
-                            << (static_cast<rs2_stream>(i.first) != rs2_stream::RS2_STREAM_ANY ? rs2_stream_to_string(static_cast<rs2_stream>(i.first)) : "")
-                            << " frame(s) processed"
-                            << '\n';
-                    }
-
-                    return (result.str());
-                }
+                virtual std::string get_statistics();
 
-                void wait()
-                {
-                    _worker.join();
-                }
+                void wait();
             };
 
         }