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+246
@@ -63,6 +63,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
"checksum memoffset 0.5.4 (registry+https://github.com/rust-lang/crates.io-index)" = "b4fc2c02a7e374099d4ee95a193111f72d2110197fe200272371758f6c3643d8"
|
||||
"checksum nom 4.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "2ad2a91a8e869eeb30b9cb3119ae87773a8f4ae617f41b1eb9c154b2905f7bd6"
|
||||
"checksum num 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "b8536030f9fea7127f841b45bb6243b27255787fb4eb83958aa1ef9d2fdc0c36"
|
||||
"checksum num-bigint 0.2.6 (registry+https://github.com/rust-lang/crates.io-index)" = "090c7f9998ee0ff65aa5b723e4009f7b217707f1fb5ea551329cc4d6231fb304"
|
||||
"checksum num-complex 0.2.4 (registry+https://github.com/rust-lang/crates.io-index)" = "b6b19411a9719e753aff12e5187b74d60d3dc449ec3f4dc21e3989c3f554bc95"
|
||||
"checksum num-integer 0.1.42 (registry+https://github.com/rust-lang/crates.io-index)" = "3f6ea62e9d81a77cd3ee9a2a5b9b609447857f3d358704331e4ef39eb247fcba"
|
||||
"checksum num-iter 0.1.40 (registry+https://github.com/rust-lang/crates.io-index)" = "dfb0800a0291891dd9f4fe7bd9c19384f98f7fbe0cd0f39a2c6b88b9868bbc00"
|
||||
"checksum num-rational 0.2.4 (registry+https://github.com/rust-lang/crates.io-index)" = "5c000134b5dbf44adc5cb772486d335293351644b801551abe8f75c84cfa4aef"
|
||||
"checksum num-traits 0.1.43 (registry+https://github.com/rust-lang/crates.io-index)" = "92e5113e9fd4cc14ded8e499429f396a20f98c772a47cc8622a736e1ec843c31"
|
||||
"checksum num-traits 0.2.11 (registry+https://github.com/rust-lang/crates.io-index)" = "c62be47e61d1842b9170f0fdeec8eba98e60e90e5446449a0545e5152acd7096"
|
||||
"checksum num_cpus 1.12.0 (registry+https://github.com/rust-lang/crates.io-index)" = "46203554f085ff89c235cd12f7075f3233af9b11ed7c9e16dfe2560d03313ce6"
|
||||
"checksum once_cell 1.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "b1c601810575c99596d4afc46f78a678c80105117c379eb3650cf99b8a21ce5b"
|
||||
"checksum opencv 0.33.1 (registry+https://github.com/rust-lang/crates.io-index)" = "5cd5fef83914ebd149b0db276bf7b31e4be0a5c8df4c26aff219ca5ca6549e11"
|
||||
"checksum peeking_take_while 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)" = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
|
||||
"checksum pkg-config 0.3.17 (registry+https://github.com/rust-lang/crates.io-index)" = "05da548ad6865900e60eaba7f589cc0783590a92e940c26953ff81ddbab2d677"
|
||||
"checksum proc-macro2 1.0.10 (registry+https://github.com/rust-lang/crates.io-index)" = "df246d292ff63439fea9bc8c0a270bed0e390d5ebd4db4ba15aba81111b5abe3"
|
||||
"checksum quick-error 1.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "a1d01941d82fa2ab50be1e79e6714289dd7cde78eba4c074bc5a4374f650dfe0"
|
||||
"checksum quote 1.0.3 (registry+https://github.com/rust-lang/crates.io-index)" = "2bdc6c187c65bca4260c9011c9e3132efe4909da44726bad24cf7572ae338d7f"
|
||||
"checksum rayon 1.3.0 (registry+https://github.com/rust-lang/crates.io-index)" = "db6ce3297f9c85e16621bb8cca38a06779ffc31bb8184e1be4bed2be4678a098"
|
||||
"checksum rayon-core 1.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "08a89b46efaf957e52b18062fb2f4660f8b8a4dde1807ca002690868ef2c85a9"
|
||||
"checksum regex 1.3.6 (registry+https://github.com/rust-lang/crates.io-index)" = "7f6946991529684867e47d86474e3a6d0c0ab9b82d5821e314b1ede31fa3a4b3"
|
||||
"checksum regex-syntax 0.6.17 (registry+https://github.com/rust-lang/crates.io-index)" = "7fe5bd57d1d7414c6b5ed48563a2c855d995ff777729dcd91c369ec7fea395ae"
|
||||
"checksum rustc-hash 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
|
||||
"checksum scopeguard 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
|
||||
"checksum semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)" = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
|
||||
"checksum semver-parser 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||
"checksum shlex 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "7fdf1b9db47230893d76faad238fd6097fd6d6a9245cd7a4d90dbd639536bbd2"
|
||||
"checksum slab 0.4.2 (registry+https://github.com/rust-lang/crates.io-index)" = "c111b5bd5695e56cffe5129854aa230b39c93a305372fdbb2668ca2394eea9f8"
|
||||
"checksum strsim 0.8.0 (registry+https://github.com/rust-lang/crates.io-index)" = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a"
|
||||
"checksum termcolor 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "bb6bfa289a4d7c5766392812c0a1f4c1ba45afa1ad47803c11e1f407d846d75f"
|
||||
"checksum textwrap 0.11.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d326610f408c7a4eb6f51c37c330e496b08506c9457c9d34287ecc38809fb060"
|
||||
"checksum thread_local 1.0.1 (registry+https://github.com/rust-lang/crates.io-index)" = "d40c6d1b69745a6ec6fb1ca717914848da4b44ae29d9b3080cbee91d72a69b14"
|
||||
"checksum unicode-width 0.1.7 (registry+https://github.com/rust-lang/crates.io-index)" = "caaa9d531767d1ff2150b9332433f32a24622147e5ebb1f26409d5da67afd479"
|
||||
"checksum unicode-xid 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "826e7639553986605ec5979c7dd957c7895e93eabed50ab2ffa7f6128a75097c"
|
||||
"checksum vcpkg 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "3fc439f2794e98976c88a2a2dafce96b930fe8010b0a256b3c2199a773933168"
|
||||
"checksum vec_map 0.8.1 (registry+https://github.com/rust-lang/crates.io-index)" = "05c78687fb1a80548ae3250346c3db86a80a7cdd77bda190189f2d0a0987c81a"
|
||||
"checksum version_check 0.1.5 (registry+https://github.com/rust-lang/crates.io-index)" = "914b1a6776c4c929a602fafd8bc742e06365d4bcbe48c30f9cca5824f70dc9dd"
|
||||
"checksum which 3.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "d011071ae14a2f6671d0b74080ae0cd8ebf3a6f8c9589a2cd45f23126fe29724"
|
||||
|
||||
+2
-1
@@ -12,4 +12,5 @@ path = "src/main.rs"
|
||||
enum_primitive = "0.1.1"
|
||||
# k4a-sys = "0.2.0"
|
||||
k4a-sys = { path = "/home/bt/dev/3rd/k4a-sys" }
|
||||
libc = "0.2.68"
|
||||
libc = "0.2.68"
|
||||
opencv = "0.33.1"
|
||||
+91
-4
@@ -120,10 +120,10 @@ impl Device {
|
||||
}
|
||||
|
||||
/// Get capture and return a new buffer.
|
||||
pub fn get_capture(&self, timeout_ms: i32) -> Result<k4a_sys::k4a_capture_t, GetCaptureError> {
|
||||
pub fn get_capture(&self, timeout_ms: i32) -> Result<Capture, GetCaptureError> {
|
||||
let mut capture_buffer: k4a_sys::k4a_capture_t = ptr::null_mut();
|
||||
self.get_capture_buffered(&mut capture_buffer, timeout_ms)
|
||||
.map(|_| capture_buffer)
|
||||
.map(|_| Capture(capture_buffer)) // TODO: Can capture be null?
|
||||
}
|
||||
|
||||
/// Get capture and reuse an existing buffer.
|
||||
@@ -154,12 +154,84 @@ impl Device {
|
||||
}
|
||||
|
||||
/// Errors for GetCapture
|
||||
#[derive(Debug)]
|
||||
pub enum GetCaptureError {
|
||||
TimeoutError,
|
||||
FailedError,
|
||||
UnknownError(u32),
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum CaptureError {
|
||||
NullCapture,
|
||||
}
|
||||
|
||||
/// Adapted from k4a-sys. Represents a capture.
|
||||
#[derive(Debug)]
|
||||
pub struct Capture(pub k4a_sys::k4a_capture_t);
|
||||
|
||||
impl Capture {
|
||||
pub fn get_depth_image(&self) -> Result<Image, CaptureError> {
|
||||
let image = unsafe {
|
||||
k4a_sys::k4a_capture_get_depth_image(self.0)
|
||||
};
|
||||
if image.is_null() {
|
||||
return Err(CaptureError::NullCapture);
|
||||
}
|
||||
Ok(Image(image))
|
||||
}
|
||||
|
||||
pub fn get_color_image(&self) -> Result<Image, CaptureError> {
|
||||
let image = unsafe {
|
||||
k4a_sys::k4a_capture_get_color_image(self.0)
|
||||
};
|
||||
if image.is_null() {
|
||||
return Err(CaptureError::NullCapture);
|
||||
}
|
||||
Ok(Image(image))
|
||||
}
|
||||
|
||||
pub fn get_ir_image(&self) -> Result<Image, CaptureError> {
|
||||
let image = unsafe {
|
||||
k4a_sys::k4a_capture_get_ir_image(self.0)
|
||||
};
|
||||
if image.is_null() {
|
||||
return Err(CaptureError::NullCapture);
|
||||
}
|
||||
Ok(Image(image))
|
||||
}
|
||||
}
|
||||
|
||||
/// Adapted from k4a-sys. Represents an image within a capture.
|
||||
#[derive(Debug)]
|
||||
pub struct Image(pub k4a_sys::k4a_image_t);
|
||||
|
||||
impl Image {
|
||||
pub fn get_height_pixels(&self) -> usize {
|
||||
unsafe {
|
||||
k4a_sys::k4a_image_get_height_pixels(self.0) as usize
|
||||
}
|
||||
}
|
||||
|
||||
pub fn get_width_pixels(&self) -> usize {
|
||||
unsafe {
|
||||
k4a_sys::k4a_image_get_width_pixels(self.0) as usize
|
||||
}
|
||||
}
|
||||
|
||||
pub fn get_stride_bytes(&self) -> usize {
|
||||
unsafe {
|
||||
k4a_sys::k4a_image_get_stride_bytes(self.0) as usize
|
||||
}
|
||||
}
|
||||
|
||||
pub fn get_buffer(&self) -> *mut u8 {
|
||||
unsafe {
|
||||
k4a_sys::k4a_image_get_buffer(self.0)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Deallocate open device handles
|
||||
impl Drop for Device {
|
||||
fn drop(&mut self) {
|
||||
@@ -169,6 +241,22 @@ impl Drop for Device {
|
||||
}
|
||||
}
|
||||
|
||||
impl Drop for Capture {
|
||||
fn drop(&mut self) {
|
||||
unsafe {
|
||||
k4a_sys::k4a_capture_release(self.0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Drop for Image {
|
||||
fn drop(&mut self) {
|
||||
unsafe {
|
||||
k4a_sys::k4a_image_release(self.0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Copied from k4a-sys
|
||||
pub struct DeviceConfiguration (k4a_sys::k4a_device_configuration_t);
|
||||
|
||||
@@ -185,7 +273,6 @@ impl DeviceConfiguration {
|
||||
wired_sync_mode: 0,
|
||||
subordinate_delay_off_master_usec: 0,
|
||||
disable_streaming_indicator: false,
|
||||
}
|
||||
)
|
||||
})
|
||||
}
|
||||
}
|
||||
+32
-10
@@ -1,26 +1,32 @@
|
||||
#[macro_use] extern crate enum_primitive;
|
||||
extern crate libc;
|
||||
extern crate k4a_sys;
|
||||
extern crate libc;
|
||||
extern crate opencv;
|
||||
|
||||
pub mod handwritten_wrapper;
|
||||
pub mod handwritten_wrapper_test;
|
||||
pub mod k4a_sys_wrapper;
|
||||
|
||||
use libc::size_t;
|
||||
use handwritten_wrapper::*;
|
||||
use std::ffi::{CStr, CString};
|
||||
use std::os::raw::c_char;
|
||||
use std::borrow::BorrowMut;
|
||||
use std::thread;
|
||||
|
||||
use k4a_sys_wrapper::device_get_installed_count;
|
||||
use k4a_sys_wrapper::Device;
|
||||
|
||||
use libc::size_t;
|
||||
use opencv::highgui;
|
||||
use opencv::prelude::*;
|
||||
use std::borrow::BorrowMut;
|
||||
use std::ffi::{CStr, CString};
|
||||
use std::os::raw::c_char;
|
||||
use std::thread;
|
||||
use std::time::Duration;
|
||||
|
||||
pub fn main() {
|
||||
let installed_devices = device_get_installed_count();
|
||||
println!("Installed devices: {}", installed_devices);
|
||||
|
||||
let window_name = "output";
|
||||
highgui::named_window(window_name, 1).unwrap();
|
||||
|
||||
{
|
||||
let device = Device::open(0).unwrap();
|
||||
println!("Device: {:?}", device);
|
||||
@@ -30,11 +36,27 @@ pub fn main() {
|
||||
println!("Starting cameras...");
|
||||
device.start_cameras().unwrap();
|
||||
|
||||
//thread::sleep(Duration::from_secs(5));
|
||||
|
||||
let capture = device.get_capture(1000).ok().unwrap();
|
||||
loop {
|
||||
let capture = device.get_capture(1000).ok().unwrap();
|
||||
println!("Capture: {:?}", capture);
|
||||
|
||||
let image = capture.get_depth_image().ok().unwrap();
|
||||
println!("Image: {:?}", capture);
|
||||
|
||||
let height = image.get_height_pixels();
|
||||
let width = image.get_width_pixels();
|
||||
|
||||
println!("Dimensions: {}x{}", width, height);
|
||||
|
||||
/*highgui::imshow(window_name, &output_image).unwrap();
|
||||
if highgui::wait_key(10).unwrap() > 0 {
|
||||
break;
|
||||
}*/
|
||||
|
||||
thread::sleep(Duration::from_secs(1));
|
||||
}
|
||||
|
||||
println!("Capture: {:?}", capture);
|
||||
|
||||
println!("Stopping cameras...");
|
||||
device.stop_cameras();
|
||||
|
||||
Reference in new issue
Block a user