azure-kinect 0.2.0

Rust Bindings for Azure Kinect Sensor SDK
Documentation 
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use crate::*;
use azure_kinect_sys::k4a::*;
use std::ptr;

pub struct Camera<'a> {
    pub(crate) device: &'a Device<'a>,
}

impl<'a> Camera<'a> {
    pub(crate) fn new(
        device: &'a Device<'a>,
        configuration: &DeviceConfiguration,
    ) -> Result<Camera<'a>, Error> {
        Error::from_k4a_result_t(unsafe {
            (device.api.funcs.k4a_device_start_cameras)(device.handle, &configuration.value)
        })
        .to_result(())?;
        Ok(Camera::<'a> { device })
    }

    /// Reads a sensor capture into cap.  Returns true if a capture was read, false if the read timed out.
    pub fn get_capture(&self, timeout_in_ms: i32) -> Result<Capture, Error> {
        let mut handle: k4a_capture_t = ptr::null_mut();
        Error::from_k4a_wait_result_t(unsafe {
            (self.device.api.funcs.k4a_device_get_capture)(
                self.device.handle,
                &mut handle,
                timeout_in_ms,
            )
        })
        .to_result_fn(|| Capture::from_handle(&self.device.api, handle))
    }

    /// Reads a sensor capture into cap.  Returns true if a capture was read, false if the read timed out.
    pub fn get_capture_wait_infinite(&self) -> Result<Capture, Error> {
        self.get_capture(K4A_WAIT_INFINITE)
    }

    /// Starts the K4A IMU
    pub fn start_imu(&self) -> Result<Imu, Error> {
        Imu::new(self.device)
    }
}

impl Drop for Camera<'_> {
    fn drop(&mut self) {
        unsafe {
            (self.device.api.funcs.k4a_device_stop_cameras)(self.device.handle);
        }
    }
}