From d9b07cfabe4d6e449f679101a65e7e11317097fd Mon Sep 17 00:00:00 2001 From: Brandon Thomas Date: Wed, 3 Feb 2021 02:12:26 -0500 Subject: [PATCH] Camera transform works (maybe!) --- src/main_zeromq.rs | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/main_zeromq.rs b/src/main_zeromq.rs index 372a51f9f0..ac8ad3c519 100644 --- a/src/main_zeromq.rs +++ b/src/main_zeromq.rs @@ -1,5 +1,7 @@ //! Generate random points to send over ZeroMQ to a consumer +#[allow(unused_imports)] + mod zeromq; use anyhow::Result as AnyhowResult; @@ -60,14 +62,17 @@ fn main() -> AnyhowResult<()> { // It's less dense, and wider. Much more performant. Fast on CPU. //config.0.depth_mode = k4a_sys::k4a_depth_mode_t_K4A_DEPTH_MODE_WFOV_2X2BINNED; + // Not used by anything, AFAICT. + config.0.depth_mode = k4a_sys::k4a_depth_mode_t_K4A_DEPTH_MODE_WFOV_UNBINNED; // 1024x1024 + config.0.color_format = k4a_sys::k4a_image_format_t_K4A_IMAGE_FORMAT_COLOR_BGRA32; config.0.color_resolution = k4a_sys::k4a_color_resolution_t_K4A_COLOR_RESOLUTION_720P; // 1280x721 //config.0.color_resolution = k4a_sys::k4a_color_resolution_t_K4A_COLOR_RESOLUTION_2160P; // 4K, what the original program did let calibration = device.get_calibration(config.0.depth_mode, config.0.color_resolution)?; - let xy_table = create_xy_table_from_depth_calibration(&calibration)?; - //let xy_table = create_xy_table_from_color_calibration(&calibration)?; + //let xy_table = create_xy_table_from_depth_calibration(&calibration)?; + let xy_table = create_xy_table_from_color_calibration(&calibration)?; let transformer = DepthTransformer::new(&calibration);