C# Record and Playback APIs (SDK binary compatible version)

.github/CODEOWNERS

@@ -0,0 +1,4 @@
+# Data science would like to know about all schema changes Engineering plan to make to SQL databases.  This automates the process and is intended to be used by Data Science as a FYI of an incoming change as opposed to a review. 
+# https://docs.github.com/en/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/about-code-owners
+* @vald-green/code-owners-harald
+*.sql @vald-green/code-owners-harald @vald-green/code-owners-data-science

.github/pull_request_template.md

@@ -4,6 +4,8 @@
 -->
 ## Fixes #
 
+Related DevOps Ticket: AB#<INSERT_TICKET_NUMBER>
+
 ### Description of the changes:
 -
 -

include/k4arecord/playback.h

@@ -818,7 +818,7 @@ K4ARECORD_EXPORT void k4a_playback_data_block_release(k4a_playback_data_block_t
  *
  * \remarks
  * The first call to k4a_playback_get_next_imu_sample() after k4a_playback_seek_timestamp() will return the first imu
- * sample with a timestamp greter than or equal to the seek time.
+ * sample with a timestamp greater than or equal to the seek time.
  *
  * \remarks
  * The first call to k4a_playback_get_previous_imu_sample() after k4a_playback_seek_timestamp() will return the first

src/csharp/Examples/Recording/Microsoft.Azure.Kinect.Sensor.Examples.Recording.csproj

@@ -0,0 +1,52 @@
+<Project Sdk="Microsoft.NET.Sdk">
+  <Import Project="..\..\k4a.props" />
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFramework>netcoreapp2.1</TargetFramework>
+    <AssemblyName>dotnetrecording</AssemblyName>
+
+    <Platforms>x64;x86</Platforms>
+    <RunCodeAnalysis>false</RunCodeAnalysis>
+    <CodeAnalysisRuleSet>..\..\AzureKinectSensorSDK.ruleset</CodeAnalysisRuleSet>
+    <OutputPath>$(BaseOutputPath)\$(AssemblyName)\</OutputPath>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\..\Record\Microsoft.Azure.Kinect.Sensor.Record.csproj" />
+    <ProjectReference Include="..\..\SDK\Microsoft.Azure.Kinect.Sensor.csproj" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <AdditionalFiles Include="..\..\stylecop.json">
+      <Link>stylecop.json</Link>
+    </AdditionalFiles>
+  </ItemGroup>
+
+  <ItemGroup>
+    <Content Include="$(K4aBinaryDirectory)\k4a.dll">
+      <Link>k4a.dll</Link>
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </Content>
+    <Content Include="$(K4aBinaryDirectory)\k4a.pdb">
+      <Link>k4a.pdb</Link>
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </Content>
+    <Content Include="$(K4aBinaryDirectory)\k4arecord.dll">
+      <Link>k4arecord.dll</Link>
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </Content>
+    <Content Include="$(K4aBinaryDirectory)\k4arecord.pdb">
+      <Link>k4arecord.pdb</Link>
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </Content>
+
+    <!-- If the depth engine doesn't exist in the bin directory, it may be available in the PATH .
+         It isn't needed for compilation, but only required at runtime when reading data from a live device. -->
+    <Content Include="$(K4aBinaryDirectory)\depthengine_2_0.dll" Condition="Exists('$(K4aBinaryDirectory)\depthengine_2_0.dll')">
+      <Link>depthengine_2_0.dll</Link>
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </Content>
+  </ItemGroup>
+
+</Project>

src/csharp/Examples/Recording/Program.cs

@@ -0,0 +1,102 @@
+using System;
+using System.Linq.Expressions;
+using Microsoft.Azure.Kinect.Sensor;
+using Microsoft.Azure.Kinect.Sensor.Record;
+
+namespace Recording
+{
+    class Program
+    {
+        static void Main(string[] args)
+        {
+            int frame = 0;
+
+            if (args.Length < 1)
+            {
+                Console.WriteLine("Please specify the name of an .mkv output file.");
+                return;
+            }
+
+            string path = args[0];
+
+            try
+            {
+                Console.WriteLine($"Recording from device to \"{path}\".");
+
+                DeviceConfiguration configuration = new DeviceConfiguration()
+                {
+                    CameraFPS = FPS.FPS30,
+                    ColorFormat = ImageFormat.ColorMJPG,
+                    ColorResolution = ColorResolution.R720p,
+                    DepthMode = DepthMode.NFOV_2x2Binned,
+                    SynchronizedImagesOnly = true
+                };
+                using (Device device = Device.Open())
+                using (Recorder recorder = Recorder.Create(path, device, configuration))
+                {
+
+                    device.StartCameras(configuration);
+                    device.StartImu();
+
+                    recorder.AddImuTrack();
+                    recorder.WriteHeader();
+
+                    for (frame = 0; frame < 100; frame++)
+                    {
+                        using (Capture capture = device.GetCapture())
+                        {
+                            recorder.WriteCapture(capture);
+                            Console.WriteLine($"Wrote capture ({capture.Color.DeviceTimestamp})");
+                            try
+                            {
+                                while (true)
+                                {
+                                    // Throws TimeoutException when Imu sample is not available
+                                    ImuSample sample = device.GetImuSample(TimeSpan.Zero);
+
+                                    recorder.WriteImuSample(sample);
+                                    Console.WriteLine($"Wrote imu ({sample.AccelerometerTimestamp})");
+                                }
+                            }
+                            catch (TimeoutException)
+                            {
+
+                            }
+                        }
+                    }
+                }
+
+                Console.WriteLine($"Wrote {frame} frames to output.mkv");
+
+                using (Playback playback = Playback.Open(@"output.mkv"))
+                {
+                    Console.WriteLine($"Tracks = {playback.TrackCount}");
+                    Console.WriteLine($"RecordingLength = {playback.RecordingLength}");
+
+                    for (int i = 0; i < playback.TrackCount; i++)
+                    {
+                        string name = playback.GetTrackName(i);
+                        string codecId = playback.GetTrackCodecId(name);
+
+                        Console.WriteLine($"  Track {i}: {name} ({codecId}) (builtin={playback.GetTrackIsBuiltin(name)})");
+                    }
+                    Capture capture;
+                    while (null != (capture = playback.GetNextCapture()))
+                    {
+                        Console.WriteLine($"Color timestamp: {capture.Color.DeviceTimestamp}  Depth timestamp: {capture.Depth.DeviceTimestamp}");
+                    }
+                }
+
+            } catch (AzureKinectException exception)
+            {
+                Console.WriteLine(exception.ToString());
+                Console.WriteLine();
+                Console.WriteLine("Azure Kinect log messages:");
+                foreach (LogMessage m in exception.LogMessages)
+                {
+                    Console.WriteLine(m.ToString());
+                }
+            }
+        }
+    }
+}

src/csharp/Examples/WPF/Microsoft.Azure.Kinect.Sensor.Examples.WPFViewer.csproj

@@ -159,7 +159,9 @@
       <Link>k4a.pdb</Link>
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </Content>
-    <Content Include="$(K4aBinaryDirectory)\depthengine_2_0.dll">
+    <!-- If the depth engine doesn't exist in the bin directory, it may be available in the PATH .
+         It isn't needed for compilation, but only required at runtime when reading data from a live device. -->
+    <Content Include="$(K4aBinaryDirectory)\depthengine_2_0.dll" Condition="Exists('$(K4aBinaryDirectory)\depthengine_2_0.dll')">
       <Link>depthengine_2_0.dll</Link>
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </Content>

src/csharp/Examples/WinForms/Microsoft.Azure.Kinect.Sensor.Examples.WinForms.csproj

@@ -148,7 +148,9 @@
       <Link>k4a.pdb</Link>
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </Content>
-    <Content Include="$(K4aBinaryDirectory)\depthengine_2_0.dll">
+    <!-- If the depth engine doesn't exist in the bin directory, it may be available in the PATH .
+         It isn't needed for compilation, but only required at runtime when reading data from a live device. -->
+    <Content Include="$(K4aBinaryDirectory)\depthengine_2_0.dll" Condition="Exists('$(K4aBinaryDirectory)\depthengine_2_0.dll')">
       <Link>depthengine_2_0.dll</Link>
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </Content>