Added support in configuring recorder compression mode

include/librealsense2/h/rs_record_playback.h

@@ -24,6 +24,7 @@ typedef enum rs2_playback_status
     RS2_PLAYBACK_STATUS_STOPPED, /**< All sensors were stopped, or playback has ended (all data was read). This is the initial playback status*/
     RS2_PLAYBACK_STATUS_COUNT
 } rs2_playback_status;
+
 const char* rs2_playback_status_to_string(rs2_playback_status status);
 
 typedef void (*rs2_playback_status_changed_callback_ptr)(rs2_playback_status);
@@ -37,6 +38,16 @@ typedef void (*rs2_playback_status_changed_callback_ptr)(rs2_playback_status);
  */
 rs2_device* rs2_create_record_device(const rs2_device* device, const char* file, rs2_error** error);
 
+/**
+* Creates a recording device to record the given device and save it to the given file
+* \param[in]  device                The device to record
+* \param[in]  file                  The desired path to which the recorder should save the data
+* \param[in]  compression_enabled   Indicates if compression is enabled, 0 means false, otherwise true
+* \param[out] error     If non-null, receives any error that occurs during this call, otherwise, errors are ignored
+* \return A pointer to a device that records its data to file, or null in case of failure
+*/
+rs2_device* rs2_create_record_device_ex(const rs2_device* device, const char* file, int compression_enabled, rs2_error** error);
+
 /**
 * Pause the recording device without stopping the actual device from streaming.
 * Pausing will cause the device to stop writing new data to the file, in particular, frames and changes to extensions

include/librealsense2/hpp/rs_record_playback.hpp

@@ -219,6 +219,22 @@ namespace rs2
             rs2::error::handle(e);
         }
 
+        /**
+        * Creates a recording device to record the given device and save it to the given file as rosbag format
+        * \param[in]  file                  The desired path to which the recorder should save the data
+        * \param[in]  device                The device to record
+        * \param[in]  compression_enabled   Indicates if compression is enabled
+        */
+        recorder(const std::string& file, rs2::device device, bool compression_enabled)
+        {
+            rs2_error* e = nullptr;
+            _dev = std::shared_ptr<rs2_device>(
+                rs2_create_record_device_ex(device.get().get(), file.c_str(), compression_enabled, &e),
+                rs2_delete_device);
+            rs2::error::handle(e);
+        }
+
+
         /**
         * Pause the recording device without stopping the actual device from streaming.
         */

src/core/streaming.h

@@ -213,6 +213,8 @@ namespace librealsense
         virtual std::vector<tagged_profile> get_profiles_tags() const = 0;
 
         virtual void tag_profiles(stream_profiles profiles) const = 0;
+
+        virtual bool compress_while_record() const = 0;
     };
 
     class depth_stereo_sensor;

src/device.h

@@ -74,6 +74,8 @@ namespace librealsense
 
         void tag_profiles(stream_profiles profiles) const override;
 
+        virtual bool compress_while_record() const override { return true; }
+
     protected:
         int add_sensor(std::shared_ptr<sensor_interface> sensor_base);
         int assign_sensor(std::shared_ptr<sensor_interface> sensor_base, uint8_t idx);

src/ds5/ds5-factory.cpp

@@ -437,6 +437,7 @@ namespace librealsense
 
             return tags;
         };
+        bool compress_while_record() const override { return false; }
     };
 
 

src/media/playback/playback_device.h

@@ -54,6 +54,8 @@ namespace librealsense
             for(auto profile : profiles)
                 profile->tag_profile(profile_tag::PROFILE_TAG_DEFAULT | profile_tag::PROFILE_TAG_SUPERSET);
         }
+
+        bool compress_while_record() const override { return true; }
 
     private:
         void update_time_base(device_serializer::nanoseconds base_timestamp);

src/media/record/record_device.h

@@ -45,7 +45,7 @@ namespace librealsense
 
         std::vector<tagged_profile> get_profiles_tags() const override { return m_device->get_profiles_tags(); };
         void tag_profiles(stream_profiles profiles) const override { m_device->tag_profiles(profiles); }
-
+        bool compress_while_record() const override { return true; }
     private:
         template <typename T> void write_device_extension_changes(const T& ext);
         template <rs2_extension E, typename P> bool extend_to_aux(std::shared_ptr<P> p, void** ext);

src/media/ros/ros_writer.h

@@ -22,10 +22,14 @@ namespace librealsense
     class ros_writer: public writer
     {
     public:
-        explicit ros_writer(const std::string& file) : m_file_path(file)
+        explicit ros_writer(const std::string& file, bool compress_while_record) : m_file_path(file)
         {
+            LOG_INFO("Compression while record is set to " << (compress_while_record ? "ON" : "OFF"));
             m_bag.open(file, rosbag::BagMode::Write);
-            m_bag.setCompression(rosbag::CompressionType::LZ4);
+            if (compress_while_record)
+            {
+                m_bag.setCompression(rosbag::CompressionType::LZ4);
+            }
             write_file_version();
         }
 

src/pipeline.cpp

@@ -640,7 +640,7 @@ namespace librealsense
             if (!dev)
                 throw librealsense::invalid_value_exception("Failed to create a pipeline_profile, device is null");
 
-            _dev = std::make_shared<record_device>(dev, std::make_shared<ros_writer>(to_file));
+            _dev = std::make_shared<record_device>(dev, std::make_shared<ros_writer>(to_file, dev->compress_while_record()));
         }
         _multistream = config.resolve(_dev.get());
     }