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 Capture<'a> {
    api: &'a azure_kinect_sys::api::Api,
    pub(crate) handle: k4a_capture_t,
}

impl<'a> Capture<'a> {
    #[deprecated(since = "0.2", note = "Factory::capture_create")]
    pub fn new(factory: &'a Factory) -> Result<Capture<'a>, Error> {
        let mut handle: k4a_capture_t = ptr::null_mut();
        Error::from_k4a_result_t(unsafe { (factory.api.funcs.k4a_capture_create)(&mut handle) })
            .to_result_fn(|| Capture::from_handle(&factory.api, handle))
    }

    pub(crate) fn from_handle(
        api: &'a azure_kinect_sys::api::Api,
        handle: k4a_capture_t,
    ) -> Capture<'a> {
        Capture { api, handle }
    }

    /// Get the color image associated with the capture
    pub fn get_color_image(&self) -> Image {
        Image::from_handle(self.api, unsafe {
            (self.api.funcs.k4a_capture_get_color_image)(self.handle)
        })
    }

    /// Get the depth image associated with the capture
    pub fn get_depth_image(&self) -> Image {
        Image::from_handle(self.api, unsafe {
            (self.api.funcs.k4a_capture_get_depth_image)(self.handle)
        })
    }

    /// Get the IR image associated with the capture
    pub fn get_ir_image(&self) -> Image {
        Image::from_handle(self.api, unsafe {
            (self.api.funcs.k4a_capture_get_ir_image)(self.handle)
        })
    }

    /// Set / add a color image to the capture
    pub fn set_color_image(&mut self, color_image: &Image) {
        unsafe { (self.api.funcs.k4a_capture_set_color_image)(self.handle, color_image.handle) }
    }

    /// Set / add a depth image to the capture
    pub fn set_depth_image(&mut self, depth_image: &Image) {
        unsafe { (self.api.funcs.k4a_capture_set_depth_image)(self.handle, depth_image.handle) }
    }

    /// Set / add an IR image to the capture
    pub fn set_ir_image(&mut self, ir_image: &Image) {
        unsafe { (self.api.funcs.k4a_capture_set_ir_image)(self.handle, ir_image.handle) }
    }

    /// Set the temperature associated with the capture in Celsius.
    pub fn set_temperature_c(&mut self, temperature_c: f32) {
        unsafe { (self.api.funcs.k4a_capture_set_temperature_c)(self.handle, temperature_c) }
    }

    /// Get temperature (in Celsius) associated with the capture.
    pub fn get_temperature_c(&self) -> f32 {
        unsafe { (self.api.funcs.k4a_capture_get_temperature_c)(self.handle) }
    }
}

impl Drop for Capture<'_> {
    fn drop(&mut self) {
        unsafe {
            (self.api.funcs.k4a_capture_release)(self.handle);
        }
        self.handle = ptr::null_mut();
    }
}

impl Clone for Capture<'_> {
    fn clone(&self) -> Self {
        unsafe {
            (self.api.funcs.k4a_capture_reference)(self.handle);
        }
        Capture::from_handle(self.api, self.handle)
    }
}