From ed811d031cedd755140b44e25d16abb39d24bc8d Mon Sep 17 00:00:00 2001 From: Brandon Thomas Date: Sat, 4 Apr 2020 04:14:32 -0400 Subject: [PATCH] read images from the sensor --- Cargo.lock | 246 +++++++++++++++++++++++++++++++++++++++++ Cargo.toml | 3 +- src/k4a_sys_wrapper.rs | 95 +++++++++++++++- src/main.rs | 42 +++++-- 4 files changed, 371 insertions(+), 15 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 4ca07a90d3..303f2e189b 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -63,6 +63,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index" name = "cc" version = "1.0.50" source = "registry+https://github.com/rust-lang/crates.io-index" +dependencies = [ + "jobserver 0.1.21 (registry+https://github.com/rust-lang/crates.io-index)", +] [[package]] name = "cexpr" @@ -101,6 +104,54 @@ dependencies = [ "vec_map 0.8.1 (registry+https://github.com/rust-lang/crates.io-index)", ] +[[package]] +name = "crossbeam-deque" +version = "0.7.3" +source = 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"d011071ae14a2f6671d0b74080ae0cd8ebf3a6f8c9589a2cd45f23126fe29724" diff --git a/Cargo.toml b/Cargo.toml index d276123d99..614d75a8e7 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -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" \ No newline at end of file +libc = "0.2.68" +opencv = "0.33.1" \ No newline at end of file diff --git a/src/k4a_sys_wrapper.rs b/src/k4a_sys_wrapper.rs index beaac47b05..7defeceee6 100644 --- a/src/k4a_sys_wrapper.rs +++ b/src/k4a_sys_wrapper.rs @@ -120,10 +120,10 @@ impl Device { } /// Get capture and return a new buffer. - pub fn get_capture(&self, timeout_ms: i32) -> Result { + pub fn get_capture(&self, timeout_ms: i32) -> Result { 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 { + 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 { + 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 { + 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, - } - ) + }) } } diff --git a/src/main.rs b/src/main.rs index 139333dc22..b90b6f9444 100644 --- a/src/main.rs +++ b/src/main.rs @@ -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();