C# Record and Playback APIs

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

include/k4arecord/record.h

@@ -462,6 +462,52 @@ K4ARECORD_EXPORT k4a_result_t k4a_record_flush(k4a_record_t recording_handle);
  */
 K4ARECORD_EXPORT void k4a_record_close(k4a_record_t recording_handle);
 
+/** Sets and clears the callback function to receive debug messages from the Azure Kinect record and playback APIs.
+ *
+ * \param message_cb
+ * The callback function to receive messages from. Set to NULL to unregister the callback function.
+ *
+ * \param message_cb_context
+ * The callback functions context.
+ *
+ * \param min_level
+ * The least critical error the user wants to be notified about.
+ *
+ * \return ::K4A_RESULT_SUCCEEDED if the callback function was set or cleared successfully. ::K4A_RESULT_FAILED if an
+ * error is encountered or the callback function has already been set.
+ *
+ * \remarks
+ * Call this function to set or clear the callback function that is used to deliver debug messages to the caller. This
+ * callback may be called concurrently, it is up to the implementation of the callback function to ensure the
+ * parallelization is handled.
+ *
+ * \remarks
+ * Clearing the callback function will block until all pending calls to the callback function have completed.
+ *
+ * \remarks
+ * To update \p min_level, k4a_record_set_debug_message_handler() can be called with the same value \p message_cb and by
+ * specifying a new \p min_level.
+ *
+ * \remarks
+ * Logging provided via this API is independent of the logging controlled by the environmental variable controls \p
+ * K4A_ENABLE_LOG_TO_STDOUT, K4A_RECORD_ENABLE_LOG_TO_A_FILE, and K4A_LOG_LEVEL. However there is a slight change in
+ * default behavior when using this function. By default, when k4a_record_set_debug_message_handler() has not been used
+ * to register a message callback, the default for environmental variable controls is to send debug messages as if
+ * K4A_ENABLE_LOG_TO_STDOUT=1 were set. If k4a_record_set_debug_message_handler registers a callback function before
+ * k4a_record_create() or k4a_playback_create() is called, then the default for environmental controls is as if
+ * K4A_ENABLE_LOG_TO_STDOUT=0 was specified. Physically specifying the environmental control will override the default.
+ *
+ * \xmlonly
+ * <requirements>
+ *   <requirement name="Header">k4a.h (include k4a/k4a.h)</requirement>
+ *   <requirement name="Library">k4a.lib</requirement>
+ *   <requirement name="DLL">k4a.dll</requirement>
+ * </requirements>
+ * \endxmlonly
+ */
+K4ARECORD_EXPORT k4a_result_t k4a_record_set_debug_message_handler(k4a_logging_message_cb_t *message_cb,
+                                                                   void *message_cb_context,
+                                                                   k4a_log_level_t min_level);
 /**
  * @}
  */

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>