Add streaming example

examples/streaming.rs

@@ -0,0 +1,121 @@
+#![allow(non_upper_case_globals)]
+extern crate k4a_sys;
+use std::ptr;
+use std::env;
+use k4a_sys::*;
+
+fn open_device() -> Option<k4a_device_t> {
+    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(0, &mut device) != k4a_buffer_result_t_K4A_BUFFER_RESULT_SUCCEEDED {
+            println!("Failed to open device");
+            return None;
+        }
+        Some(device)
+    }
+}
+
+pub struct DeviceConfiguration (k4a_device_configuration_t);
+impl DeviceConfiguration {
+    pub fn new() -> 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,
+        }
+     )
+    }
+}
+
+fn main() {
+    unsafe {
+    let timeout_in_ms = 1000;
+
+    let args = env::args().collect::<Vec<String>>();
+    if args.len() < 2 {
+        println!("usage: {} FRAMECOUNT", args[0]);
+        println!("Capture FRAMECOUNT color and depth frames from the device using the separate get frame APIs");
+        panic!("Missing FRAMECOUNT argument");
+    }
+
+    let capture_frame_count: i32 = args[1].parse().expect("Unable to parse frame count as a number");
+    println!("Capturing {} frames", capture_frame_count);
+
+    let device: k4a_device_t = open_device().expect("Unable to open device");
+    let mut config = DeviceConfiguration::new();
+    config.0.color_format = k4a_image_format_t_K4A_IMAGE_FORMAT_COLOR_MJPG;
+    config.0.color_resolution = k4a_color_resolution_t_K4A_COLOR_RESOLUTION_2160P;
+    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;
+
+    if k4a_device_start_cameras(device, &(config.0)) != k4a_buffer_result_t_K4A_BUFFER_RESULT_SUCCEEDED {
+        panic!("Failed to start device");
+    }
+
+    let mut capture: k4a_capture_t = ptr::null_mut();
+    for _ in 0..capture_frame_count {
+        match k4a_device_get_capture(device, &mut capture, timeout_in_ms) {
+            k4a_wait_result_t_K4A_WAIT_RESULT_SUCCEEDED => {}
+            k4a_wait_result_t_K4A_WAIT_RESULT_TIMEOUT => {
+                println!("Timed out waiting for a capture");
+                continue;
+            }
+            k4a_wait_result_t_K4A_WAIT_RESULT_FAILED => {
+                panic!("Failed to read a capture");
+            }
+            _ => panic!("Unknown result from device capture")
+        }
+        println!("Capture");
+
+        // Probe for a color image
+        let mut image = k4a_capture_get_color_image(capture);
+        if !image.is_null() {
+            print!(" | Color res:{:4}x{:4} stride:{:5} ",
+                    k4a_image_get_height_pixels(image),
+                    k4a_image_get_width_pixels(image),
+                    k4a_image_get_stride_bytes(image));
+            k4a_image_release(image);
+        } else {
+            print!(" | Color None                       ");
+        }
+
+        // probe for a IR16 image
+        image = k4a_capture_get_ir_image(capture);
+        if !image.is_null() {
+            print!(" | Ir16 res:{:4}x{:4} stride:{:5} ",
+                    k4a_image_get_height_pixels(image),
+                    k4a_image_get_width_pixels(image),
+                    k4a_image_get_stride_bytes(image));
+            k4a_image_release(image);
+        } else {
+            print!(" | Ir16 None                       ");
+        }
+
+        // Probe for a depth16 image
+        image = k4a_capture_get_depth_image(capture);
+        if !image.is_null() {
+            println!(" | Depth16 res:{:4}x{:4} stride:{:5}",
+                    k4a_image_get_height_pixels(image),
+                    k4a_image_get_width_pixels(image),
+                    k4a_image_get_stride_bytes(image));
+            k4a_image_release(image);
+        }
+        else {
+            println!(" | Depth16 None");
+        }
+        // fflush(stdout);
+    }
+}
+}