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cleanup
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Brandon Thomas committed
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@@ -12,11 +12,13 @@ extern crate opencv;
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pub mod handwritten_wrapper;
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pub mod handwritten_wrapper_test;
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pub mod k4a_sys_wrapper;
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pub mod sensors;
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use handwritten_wrapper::*;
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use k4a_sys_wrapper::device_get_installed_count;
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use k4a_sys_wrapper::Device;
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use k4a_sys_wrapper::Image;
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use sensors::grab_single_frame;
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use glium::glutin::event::{Event, StartCause};
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use glium::glutin::event_loop::{EventLoop, ControlFlow};
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@@ -47,136 +49,11 @@ use std::sync::RwLock;
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use std::thread;
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use std::time::Duration;
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pub fn grab_single_frame() -> DynamicImage {
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let installed_devices = device_get_installed_count();
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println!("Installed devices: {}", installed_devices);
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{
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let device = Device::open(0).unwrap();
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println!("Device: {:?}", device);
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let serial_number = device.get_serial_number().unwrap();
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println!("Device: {:?}", serial_number);
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pub fn capture_frames() {
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println!("Starting cameras...");
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device.start_cameras().unwrap();
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let mut capturedImage = None;
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loop {
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let capture = device.get_capture(1000).ok().unwrap();
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match capture.get_color_image() {
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Ok(image) => {
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capturedImage = Some(image);
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break;
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}
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_ => {},
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}
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}
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let image = capturedImage.unwrap();
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/*let image = capture.get_ir_image().expect("Got IR image");
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let image = capture.get_depth_image().expect("Got depth image");
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let image = capture.get_color_image().expect("Got color image");*/
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//let opencv_image = depth_to_opencv(&image).ok().unwrap();
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let image_image = depth_to_image(&image).expect("depth_to_image should work");
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/*let imageB = image::load(Cursor::new(&include_bytes!("../n64logo.png")[..]),
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image::ImageFormat::Png).unwrap().to_rgba();*/
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device.stop_cameras();
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return image_image;
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}
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}
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// https://docs.rs/image/0.23.2/image/flat/index.html
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pub fn depth_to_image(image: &Image) -> Result<DynamicImage, ImageError> {
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unsafe {
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/*let stride = image.get_stride_bytes();
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let mat = Mat::new_rows_cols_with_data(
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image.get_height_pixels() as i32,
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image.get_width_pixels() as i32,
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core::CV_16U,
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&mut *(image.get_buffer() as *mut c_void),
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stride,
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);*/
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/*let count_of_items = image.get_width_pixels() * image.get_height_pixels() * image.get_stride_bytes() * 30;
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let slice = unsafe { std::slice::from_raw_parts(image.get_buffer(), count_of_items) };
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image::load_from_memory_with_format(slice, ImageFormat::Bmp)*/
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println!("Width: {}", image.get_width_pixels());
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println!("Height: {}", image.get_height_pixels());
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println!("Stride: {}", image.get_stride_bytes());
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println!("size_t: {}", image.get_size());
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//let len = image.get_width_pixels() * image.get_height_pixels() * image.get_stride_bytes();
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let len = image.get_size();
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let samples = unsafe { slice::from_raw_parts(image.get_buffer(), len) };
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//let layout = unsafe { ptr::read(layout) };
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let layout = SampleLayout::row_major_packed(4, image.get_width_pixels() as u32, image.get_height_pixels() as u32);
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let mut buffer = FlatSamples {
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samples,
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layout,
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color_hint: None,
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};
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let view = buffer.as_view::<Rgba<u8>>()
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.expect("view should work");
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let mut img: RgbaImage = ImageBuffer::new(image.get_width_pixels() as u32, image.get_height_pixels() as u32);
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let mut img = DynamicImage::ImageRgba8(img);
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img.copy_from(&view, 0, 0).expect("Should be able to copy");
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Ok(img)
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}
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}
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pub fn main() {
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/*let event_loop = glutin::event_loop::EventLoop::new();
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let wb = glutin::window::WindowBuilder::new();
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let cb = glutin::ContextBuilder::new();
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let display = glium::Display::new(wb, cb, &event_loop).unwrap();
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// building the vertex and index buffers
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//let vertex_buffer = load_wavefront(&display, include_bytes!("../torus.obj"));
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event_loop.run(move |event, _, control_flow| {
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let next_frame_time = std::time::Instant::now() +
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std::time::Duration::from_nanos(16_666_667);
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*control_flow = glutin::event_loop::ControlFlow::WaitUntil(next_frame_time);
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match event {
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glutin::event::Event::WindowEvent { event, .. } => match event {
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glutin::event::WindowEvent::CloseRequested => {
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*control_flow = glutin::event_loop::ControlFlow::Exit;
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return;
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},
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_ => return,
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},
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glutin::event::Event::NewEvents(cause) => match cause {
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glutin::event::StartCause::ResumeTimeReached { .. } => (),
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glutin::event::StartCause::Init => (),
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_ => return,
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},
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_ => return,
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}
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let mut target = display.draw();
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target.clear_color(0.0, 0.0, 1.0, 1.0);
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target.finish().unwrap();
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});*/
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/*thread::spawn(|| {
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run();
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});*/
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let frame_image = grab_single_frame().to_rgba();
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let event_loop = glutin::event_loop::EventLoop::new();
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@@ -372,47 +249,3 @@ pub fn depth_to_opencv(image: &Image) -> opencv::Result<Mat> {
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mat
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}
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}
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/*/// From glium examples
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/// Returns a vertex buffer that should be rendered as `TrianglesList`.
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pub fn load_wavefront(display: &Display, data: &[u8]) -> VertexBufferAny {
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#[derive(Copy, Clone)]
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struct Vertex {
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position: [f32; 3],
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normal: [f32; 3],
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texture: [f32; 2],
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}
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implement_vertex!(Vertex, position, normal, texture);
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let mut data = ::std::io::BufReader::new(data);
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let data = obj::Obj::load_buf(&mut data).unwrap();
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let mut vertex_data = Vec::new();
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for object in data.objects.iter() {
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for polygon in object.groups.iter().flat_map(|g| g.polys.iter()) {
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match polygon {
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&genmesh::Polygon::PolyTri(genmesh::Triangle { x: v1, y: v2, z: v3 }) => {
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for v in [v1, v2, v3].iter() {
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let position = data.position[v.0];
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let texture = v.1.map(|index| data.texture[index]);
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let normal = v.2.map(|index| data.normal[index]);
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let texture = texture.unwrap_or([0.0, 0.0]);
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let normal = normal.unwrap_or([0.0, 0.0, 0.0]);
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vertex_data.push(Vertex {
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position: position,
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normal: normal,
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texture: texture,
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})
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}
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},
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_ => unimplemented!()
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}
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}
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}
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glium::vertex::VertexBuffer::new(display, &vertex_data).unwrap().into()
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}*/
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@@ -0,0 +1,98 @@
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use std::borrow::BorrowMut;
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use std::ffi::{c_void, CStr, CString};
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use std::io::Cursor;
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use std::os::raw::c_char;
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use std::ptr;
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use std::slice;
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use std::sync::Arc;
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use std::sync::RwLock;
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use std::thread;
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use std::time::Duration;
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use glium::{Display, glutin, Surface};
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use glium::glutin::event::{Event, StartCause};
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use glium::glutin::event_loop::{ControlFlow, EventLoop};
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use glium::vertex::VertexBufferAny;
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use image::{DynamicImage, ImageFormat};
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use image::flat::{FlatSamples, SampleLayout};
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use image::GenericImage;
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use image::ImageBuffer;
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use image::ImageError;
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use image::Rgb;
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use image::Rgba;
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use image::RgbaImage;
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use image::RgbImage;
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use libc::size_t;
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use opencv::core;
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use opencv::highgui;
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use opencv::imgproc;
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use opencv::prelude::*;
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use handwritten_wrapper::*;
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use k4a_sys_wrapper::Device;
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use k4a_sys_wrapper::device_get_installed_count;
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use k4a_sys_wrapper::Image;
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pub fn grab_single_frame() -> DynamicImage {
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let installed_devices = device_get_installed_count();
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println!("Installed devices: {}", installed_devices);
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{
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let device = Device::open(0).unwrap();
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println!("Device: {:?}", device);
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let serial_number = device.get_serial_number().unwrap();
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println!("Device: {:?}", serial_number);
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println!("Starting cameras...");
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device.start_cameras().unwrap();
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let mut captured_image = None;
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loop {
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let capture = device.get_capture(1000).ok().unwrap();
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match capture.get_color_image() {
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Ok(image) => {
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captured_image = Some(image);
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break;
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}
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_ => {},
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}
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}
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let image = captured_image.unwrap();
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let image_image = depth_to_image(&image).expect("depth_to_image should work");
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device.stop_cameras();
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return image_image;
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}
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}
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// https://docs.rs/image/0.23.2/image/flat/index.html
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pub fn depth_to_image(image: &Image) -> Result<DynamicImage, ImageError> {
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let len = image.get_size();
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let samples = unsafe { slice::from_raw_parts(image.get_buffer(), len) };
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let layout = SampleLayout::row_major_packed(
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4,
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image.get_width_pixels() as u32,
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image.get_height_pixels() as u32);
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let mut buffer = FlatSamples {
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samples,
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layout,
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color_hint: None,
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};
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let view = buffer.as_view::<Rgba<u8>>()
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.expect("view should work");
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let mut img: RgbaImage = ImageBuffer::new(
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image.get_width_pixels() as u32,
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image.get_height_pixels() as u32);
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let mut img = DynamicImage::ImageRgba8(img);
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img.copy_from(&view, 0, 0).expect("Should be able to copy");
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Ok(img)
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}
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