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Remove calibration.rs example, it will go it the wrapper crate.

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Amédée d'Aboville
2020-01-30 10:50:17 -05:00
parent 078455d028
commit a4b9d7c213
1 changed files with 0 additions and 155 deletions
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examples/calibration.rs
-155
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@@ -1,155 +0,0 @@
#![allow(non_upper_case_globals)]
extern crate k4a_sys;
use std::ptr;
use std::default;
use std::ffi::{CString};
use k4a_sys::*;
struct Device {
idx : u32,
k4a_device: k4a_device_t,
}
//The beginnings of a wrapper struct
impl Device {
pub fn get_idx(&self) -> u32 {
self.idx
}
pub fn get_k4a_device(&self) -> k4a_device_t {
self.k4a_device
}
fn new(k4a_device: k4a_device_t, idx: u32) -> Self {
Self {
idx,
k4a_device,
}
}
pub fn open(device_idx: u32) -> Option<Self> {
unsafe {
let device_count = k4a_sys::k4a_device_get_installed_count();
let mut device: k4a_device_t = ptr::null_mut();
if device_count == 0 {
println!("No K4A devices found");
return None;
}
if k4a_device_open(device_idx, &mut device) != k4a_buffer_result_t_K4A_BUFFER_RESULT_SUCCEEDED {
println!("Failed to open device");
return None;
}
Some(Self::new(device, device_idx))
}
}
pub fn get_serial(&self) -> Option<String> {
unsafe {
let mut serial_number_length: usize = 0;
if k4a_device_get_serialnum(self.get_k4a_device(), ptr::null_mut(), &mut serial_number_length) !=
k4a_buffer_result_t_K4A_BUFFER_RESULT_TOO_SMALL {
println!("{}: Failed to get serial number length", self.get_idx());
return None
}
let mut serial_number = CString::new(vec![1u8; serial_number_length]).expect("Building a cstring failed");
let serial_number_ptr = serial_number.into_raw();
if k4a_device_get_serialnum(self.get_k4a_device(), serial_number_ptr, &mut serial_number_length) !=
k4a_buffer_result_t_K4A_BUFFER_RESULT_SUCCEEDED {
println!("{}: Failed to get serial number", self.get_idx());
return None;
}
serial_number = CString::from_raw(serial_number_ptr);
serial_number.into_string().ok()
}
}
pub fn installed_count() -> u32 {
unsafe {
k4a_device_get_installed_count()
}
}
}
impl Drop for Device {
fn drop (&mut self) {
unsafe {
k4a_device_close(self.k4a_device)
}
}
}
// pub struct DeviceCalibration (k4a_calibration_t);
// impl Default for DeviceCalibration {
// fn default() -> Self {
// Self (k4a_calibration_t {
// color_camera_calibration,
// color_resolution,
// depth_camera_calibration
// })
// }
// }
pub struct DeviceConfiguration (k4a_device_configuration_t);
impl Default for DeviceConfiguration {
fn default() -> Self {
Self (k4a_sys::k4a_device_configuration_t {
color_format: k4a_image_format_t_K4A_IMAGE_FORMAT_COLOR_MJPG,
color_resolution: k4a_color_resolution_t_K4A_COLOR_RESOLUTION_720P,
depth_mode: k4a_depth_mode_t_K4A_DEPTH_MODE_WFOV_2X2BINNED,
camera_fps: 0,
synchronized_images_only: false,
depth_delay_off_color_usec: 0,
wired_sync_mode: 0,
subordinate_delay_off_master_usec: 0,
disable_streaming_indicator: false,
}
)
}
}
impl DeviceConfiguration {
pub fn init_disable_all() -> Self {
Self (k4a_sys::k4a_device_configuration_t {
color_format: k4a_image_format_t_K4A_IMAGE_FORMAT_COLOR_MJPG,
color_resolution: k4a_color_resolution_t_K4A_COLOR_RESOLUTION_OFF,
depth_mode: k4a_depth_mode_t_K4A_DEPTH_MODE_OFF,
camera_fps: k4a_fps_t_K4A_FRAMES_PER_SECOND_30,
synchronized_images_only: false,
depth_delay_off_color_usec: 0,
wired_sync_mode: k4a_wired_sync_mode_t_K4A_WIRED_SYNC_MODE_STANDALONE,
subordinate_delay_off_master_usec: 0,
disable_streaming_indicator: false,
})
}
}
fn print_calibration() {
let num_devices = Device::installed_count();
println!("Found {} connected devices", num_devices);
unsafe {
for i in 0..num_devices {
let device = Device::open(i);
let mut calibration: k4a_calibration_t;
let mut config : DeviceConfiguration= DeviceConfiguration::init_disable_all();
config.0.color_format = k4a_image_format_t_K4A_IMAGE_FORMAT_COLOR_MJPG;
config.0.color_resolution = k4a_color_resolution_t_K4A_COLOR_RESOLUTION_1080P;
config.0.depth_mode = k4a_depth_mode_t_K4A_DEPTH_MODE_NFOV_UNBINNED;
config.0.camera_fps = k4a_fps_t_K4A_FRAMES_PER_SECOND_30;
config.0.wired_sync_mode = k4a_wired_sync_mode_t_K4A_WIRED_SYNC_MODE_STANDALONE;
config.0.synchronized_images_only = true;
// k4a_sys::k4a_device_calibration(device.get_k4a_device(), )
}
}
}
fn main () {
print_calibration();
}