/* automatically generated by rust-bindgen */

pub const K4A_VERSION_MAJOR : u32 = 1 ; pub const K4A_VERSION_MINOR : u32 = 3 ; pub const K4A_VERSION_PATCH : u32 = 0 ; pub const K4A_VERSION_PRERELEASE : & 'static [ u8 ; 8usize ] = b"private\0" ; pub const K4A_VERSION_BUILD_METADATA : & 'static [ u8 ; 1usize ] = b"\0" ; pub const K4A_VERSION_STR : & 'static [ u8 ; 14usize ] = b"1.3.0-private\0" ; pub const K4A_DEVICE_DEFAULT : u32 = 0 ; pub const K4A_WAIT_INFINITE : i32 = -1 ; pub type __uint8_t = :: std :: os :: raw :: c_uchar ; pub type __int32_t = :: std :: os :: raw :: c_int ; pub type __uint32_t = :: std :: os :: raw :: c_uint ; pub type __uint64_t = :: std :: os :: raw :: c_ulong ; # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct _k4a_device_t { pub _rsvd : usize , } # [ test ] fn bindgen_test_layout__k4a_device_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_device_t > ( ) , 8usize , concat ! ( "Size of: " , stringify ! ( _k4a_device_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_device_t > ( ) , 8usize , concat ! ( "Alignment of " , stringify ! ( _k4a_device_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_t > ( ) ) ) . _rsvd as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_t ) , "::" , stringify ! ( _rsvd ) ) ) ; } pub type k4a_device_t = * mut _k4a_device_t ; # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct _k4a_capture_t { pub _rsvd : usize , } # [ test ] fn bindgen_test_layout__k4a_capture_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_capture_t > ( ) , 8usize , concat ! ( "Size of: " , stringify ! ( _k4a_capture_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_capture_t > ( ) , 8usize , concat ! ( "Alignment of " , stringify ! ( _k4a_capture_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_capture_t > ( ) ) ) . _rsvd as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_capture_t ) , "::" , stringify ! ( _rsvd ) ) ) ; } pub type k4a_capture_t = * mut _k4a_capture_t ; # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct _k4a_image_t { pub _rsvd : usize , } # [ test ] fn bindgen_test_layout__k4a_image_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_image_t > ( ) , 8usize , concat ! ( "Size of: " , stringify ! ( _k4a_image_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_image_t > ( ) , 8usize , concat ! ( "Alignment of " , stringify ! ( _k4a_image_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_image_t > ( ) ) ) . _rsvd as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_image_t ) , "::" , stringify ! ( _rsvd ) ) ) ; } pub type k4a_image_t = * mut _k4a_image_t ; # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct _k4a_transformation_t { pub _rsvd : usize , } # [ test ] fn bindgen_test_layout__k4a_transformation_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_transformation_t > ( ) , 8usize , concat ! ( "Size of: " , stringify ! ( _k4a_transformation_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_transformation_t > ( ) , 8usize , concat ! ( "Alignment of " , stringify ! ( _k4a_transformation_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_transformation_t > ( ) ) ) . _rsvd as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_transformation_t ) , "::" , stringify ! ( _rsvd ) ) ) ; } pub type k4a_transformation_t = * mut _k4a_transformation_t ; # [ doc = "< The result was successful" ] pub const k4a_result_t_K4A_RESULT_SUCCEEDED : k4a_result_t = 0 ; # [ doc = "< The result was a failure" ] pub const k4a_result_t_K4A_RESULT_FAILED : k4a_result_t = 1 ; # [ doc = " Result code returned by Azure Kinect APIs." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_result_t = u32 ; # [ doc = "< The result was successful" ] pub const k4a_buffer_result_t_K4A_BUFFER_RESULT_SUCCEEDED : k4a_buffer_result_t = 0 ; # [ doc = "< The result was a failure" ] pub const k4a_buffer_result_t_K4A_BUFFER_RESULT_FAILED : k4a_buffer_result_t = 1 ; # [ doc = "< The input buffer was too small" ] pub const k4a_buffer_result_t_K4A_BUFFER_RESULT_TOO_SMALL : k4a_buffer_result_t = 2 ; # [ doc = " Result code returned by Azure Kinect APIs." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_buffer_result_t = u32 ; # [ doc = "< The result was successful" ] pub const k4a_wait_result_t_K4A_WAIT_RESULT_SUCCEEDED : k4a_wait_result_t = 0 ; # [ doc = "< The result was a failure" ] pub const k4a_wait_result_t_K4A_WAIT_RESULT_FAILED : k4a_wait_result_t = 1 ; # [ doc = "< The operation timed out" ] pub const k4a_wait_result_t_K4A_WAIT_RESULT_TIMEOUT : k4a_wait_result_t = 2 ; # [ doc = " Result code returned by Azure Kinect APIs." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_wait_result_t = u32 ; # [ doc = "< Most severe level of debug messaging." ] pub const k4a_log_level_t_K4A_LOG_LEVEL_CRITICAL : k4a_log_level_t = 0 ; # [ doc = "< 2nd most severe level of debug messaging." ] pub const k4a_log_level_t_K4A_LOG_LEVEL_ERROR : k4a_log_level_t = 1 ; # [ doc = "< 3nd most severe level of debug messaging." ] pub const k4a_log_level_t_K4A_LOG_LEVEL_WARNING : k4a_log_level_t = 2 ; # [ doc = "< 2nd least severe level of debug messaging." ] pub const k4a_log_level_t_K4A_LOG_LEVEL_INFO : k4a_log_level_t = 3 ; # [ doc = "< Least severe level of debug messaging." ] pub const k4a_log_level_t_K4A_LOG_LEVEL_TRACE : k4a_log_level_t = 4 ; # [ doc = "< No logging is performed" ] pub const k4a_log_level_t_K4A_LOG_LEVEL_OFF : k4a_log_level_t = 5 ; # [ doc = " Verbosity levels of debug messaging" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_log_level_t = u32 ; # [ doc = "< Depth sensor will be turned off with this setting." ] pub const k4a_depth_mode_t_K4A_DEPTH_MODE_OFF : k4a_depth_mode_t = 0 ; # [ doc = "< Depth captured at 320x288. Passive IR is also captured at 320x288." ] pub const k4a_depth_mode_t_K4A_DEPTH_MODE_NFOV_2X2BINNED : k4a_depth_mode_t = 1 ; # [ doc = "< Depth captured at 640x576. Passive IR is also captured at 640x576." ] pub const k4a_depth_mode_t_K4A_DEPTH_MODE_NFOV_UNBINNED : k4a_depth_mode_t = 2 ; # [ doc = "< Depth captured at 512x512. Passive IR is also captured at 512x512." ] pub const k4a_depth_mode_t_K4A_DEPTH_MODE_WFOV_2X2BINNED : k4a_depth_mode_t = 3 ; # [ doc = "< Depth captured at 1024x1024. Passive IR is also captured at 1024x1024." ] pub const k4a_depth_mode_t_K4A_DEPTH_MODE_WFOV_UNBINNED : k4a_depth_mode_t = 4 ; # [ doc = "< Passive IR only, captured at 1024x1024." ] pub const k4a_depth_mode_t_K4A_DEPTH_MODE_PASSIVE_IR : k4a_depth_mode_t = 5 ; # [ doc = " Depth sensor capture modes." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " See the hardware specification for additional details on the field of view, and supported frame rates" ] # [ doc = " for each mode." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " NFOV and WFOV denote Narrow and Wide Field Of View configurations." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Binned modes reduce the captured camera resolution by combining adjacent sensor pixels into a bin." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_depth_mode_t = u32 ; # [ doc = "< Color camera will be turned off with this setting" ] pub const k4a_color_resolution_t_K4A_COLOR_RESOLUTION_OFF : k4a_color_resolution_t = 0 ; # [ doc = "< 1280 * 720  16:9" ] pub const k4a_color_resolution_t_K4A_COLOR_RESOLUTION_720P : k4a_color_resolution_t = 1 ; # [ doc = "< 1920 * 1080 16:9" ] pub const k4a_color_resolution_t_K4A_COLOR_RESOLUTION_1080P : k4a_color_resolution_t = 2 ; # [ doc = "< 2560 * 1440 16:9" ] pub const k4a_color_resolution_t_K4A_COLOR_RESOLUTION_1440P : k4a_color_resolution_t = 3 ; # [ doc = "< 2048 * 1536 4:3" ] pub const k4a_color_resolution_t_K4A_COLOR_RESOLUTION_1536P : k4a_color_resolution_t = 4 ; # [ doc = "< 3840 * 2160 16:9" ] pub const k4a_color_resolution_t_K4A_COLOR_RESOLUTION_2160P : k4a_color_resolution_t = 5 ; # [ doc = "< 4096 * 3072 4:3" ] pub const k4a_color_resolution_t_K4A_COLOR_RESOLUTION_3072P : k4a_color_resolution_t = 6 ; # [ doc = " Color sensor resolutions." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_color_resolution_t = u32 ; # [ doc = " Color image type MJPG." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " The buffer for each image is encoded as a JPEG and can be decoded by a JPEG decoder." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Because the image is compressed, the stride parameter for the \\ref k4a_image_t is not applicable." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Each MJPG encoded image in a stream may be of differing size depending on the compression efficiency." ] pub const k4a_image_format_t_K4A_IMAGE_FORMAT_COLOR_MJPG : k4a_image_format_t = 0 ; # [ doc = " Color image type NV12." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " NV12 images separate the luminance and chroma data such that all the luminance is at the" ] # [ doc = " beginning of the buffer, and the chroma lines follow immediately after." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Stride indicates the length of each line in bytes and should be used to determine the start location of each line" ] # [ doc = " of the image in memory. Chroma has half as many lines of height and half the width in pixels of the luminance." ] # [ doc = " Each chroma line has the same width in bytes as a luminance line." ] pub const k4a_image_format_t_K4A_IMAGE_FORMAT_COLOR_NV12 : k4a_image_format_t = 1 ; # [ doc = " Color image type YUY2." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " YUY2 stores chroma and luminance data in interleaved pixels." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Stride indicates the length of each line in bytes and should be used to determine the start location of each" ] # [ doc = " line of the image in memory." ] pub const k4a_image_format_t_K4A_IMAGE_FORMAT_COLOR_YUY2 : k4a_image_format_t = 2 ; # [ doc = " Color image type BGRA32." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Each pixel of BGRA32 data is four bytes. The first three bytes represent Blue, Green," ] # [ doc = " and Red data. The fourth byte is the alpha channel and is unused in the Azure Kinect APIs." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Stride indicates the length of each line in bytes and should be used to determine the start location of each" ] # [ doc = " line of the image in memory." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " The Azure Kinect device does not natively capture in this format. Requesting images of this format" ] # [ doc = " requires additional computation in the API." ] # [ doc = "" ] pub const k4a_image_format_t_K4A_IMAGE_FORMAT_COLOR_BGRA32 : k4a_image_format_t = 3 ; # [ doc = " Depth image type DEPTH16." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Each pixel of DEPTH16 data is two bytes of little endian unsigned depth data. The unit of the data is in" ] # [ doc = " millimeters from the origin of the camera." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Stride indicates the length of each line in bytes and should be used to determine the start location of each" ] # [ doc = " line of the image in memory." ] pub const k4a_image_format_t_K4A_IMAGE_FORMAT_DEPTH16 : k4a_image_format_t = 4 ; # [ doc = " Image type IR16." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Each pixel of IR16 data is two bytes of little endian unsigned depth data. The value of the data represents" ] # [ doc = " brightness." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " This format represents infrared light and is captured by the depth camera." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Stride indicates the length of each line in bytes and should be used to determine the start location of each" ] # [ doc = " line of the image in memory." ] pub const k4a_image_format_t_K4A_IMAGE_FORMAT_IR16 : k4a_image_format_t = 5 ; # [ doc = " Single channel image type CUSTOM8." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Each pixel of CUSTOM8 is a single channel one byte of unsigned data." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Stride indicates the length of each line in bytes and should be used to determine the start location of each" ] # [ doc = " line of the image in memory." ] pub const k4a_image_format_t_K4A_IMAGE_FORMAT_CUSTOM8 : k4a_image_format_t = 6 ; # [ doc = " Single channel image type CUSTOM16." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Each pixel of CUSTOM16 is a single channel two bytes of little endian unsigned data." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Stride indicates the length of each line in bytes and should be used to determine the start location of each" ] # [ doc = " line of the image in memory." ] pub const k4a_image_format_t_K4A_IMAGE_FORMAT_CUSTOM16 : k4a_image_format_t = 7 ; # [ doc = " Custom image format." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Used in conjunction with user created images or images packing non-standard data." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " See the originator of the custom formatted image for information on how to interpret the data." ] pub const k4a_image_format_t_K4A_IMAGE_FORMAT_CUSTOM : k4a_image_format_t = 8 ; # [ doc = " Image format type." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The image format indicates how the \\ref k4a_image_t buffer data is interpreted." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_image_format_t = u32 ; # [ doc = "< Nearest neighbor interpolation" ] pub const k4a_transformation_interpolation_type_t_K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST : k4a_transformation_interpolation_type_t = 0 ; # [ doc = "< Linear interpolation" ] pub const k4a_transformation_interpolation_type_t_K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR : k4a_transformation_interpolation_type_t = 1 ; # [ doc = " Transformation interpolation type." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Interpolation type used with k4a_transformation_depth_image_to_color_camera_custom." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_transformation_interpolation_type_t = u32 ; # [ doc = "< 5 FPS" ] pub const k4a_fps_t_K4A_FRAMES_PER_SECOND_5 : k4a_fps_t = 0 ; # [ doc = "< 15 FPS" ] pub const k4a_fps_t_K4A_FRAMES_PER_SECOND_15 : k4a_fps_t = 1 ; # [ doc = "< 30 FPS" ] pub const k4a_fps_t_K4A_FRAMES_PER_SECOND_30 : k4a_fps_t = 2 ; # [ doc = " Color and depth sensor frame rate." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This enumeration is used to select the desired frame rate to operate the cameras. The actual" ] # [ doc = " frame rate may vary slightly due to dropped data, synchronization variation between devices," ] # [ doc = " clock accuracy, or if the camera exposure priority mode causes reduced frame rate." ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_fps_t = u32 ; # [ doc = " Exposure time setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May be set to ::K4A_COLOR_CONTROL_MODE_AUTO or ::K4A_COLOR_CONTROL_MODE_MANUAL." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " The Azure Kinect supports a limited number of fixed expsore settings. When setting this, expect the exposure to" ] # [ doc = " be rounded up to the nearest setting. Exceptions are 1) The last value in the table is the upper limit, so a" ] # [ doc = " value larger than this will be overridden to the largest entry in the table. 2) The exposure time cannot be" ] # [ doc = " larger than the equivelent FPS. So expect 100ms exposure time to be reduced to 30ms or 33.33ms when the camera is" ] # [ doc = " started. The most recent copy of the table 'device_exposure_mapping' is in" ] # [ doc = " https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/src/color/color_priv.h" ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Exposure time is measured in microseconds." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE : k4a_color_control_command_t = 0 ; # [ doc = " Exposure or Framerate priority setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May only be set to ::K4A_COLOR_CONTROL_MODE_MANUAL." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Value of 0 means framerate priority. Value of 1 means exposure priority." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Using exposure priority may impact the framerate of both the color and depth cameras." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Deprecated starting in 1.2.0. Please discontinue usage, firmware does not support this." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_AUTO_EXPOSURE_PRIORITY : k4a_color_control_command_t = 1 ; # [ doc = " Brightness setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May only be set to ::K4A_COLOR_CONTROL_MODE_MANUAL." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " The valid range is 0 to 255. The default value is 128." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_BRIGHTNESS : k4a_color_control_command_t = 2 ; # [ doc = " Contrast setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May only be set to ::K4A_COLOR_CONTROL_MODE_MANUAL." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_CONTRAST : k4a_color_control_command_t = 3 ; # [ doc = " Saturation setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May only be set to ::K4A_COLOR_CONTROL_MODE_MANUAL." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_SATURATION : k4a_color_control_command_t = 4 ; # [ doc = " Sharpness setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May only be set to ::K4A_COLOR_CONTROL_MODE_MANUAL." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_SHARPNESS : k4a_color_control_command_t = 5 ; # [ doc = " White balance setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May be set to ::K4A_COLOR_CONTROL_MODE_AUTO or ::K4A_COLOR_CONTROL_MODE_MANUAL." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " The unit is degrees Kelvin. The setting must be set to a value evenly divisible by 10 degrees." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_WHITEBALANCE : k4a_color_control_command_t = 6 ; # [ doc = " Backlight compensation setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May only be set to ::K4A_COLOR_CONTROL_MODE_MANUAL." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Value of 0 means backlight compensation is disabled. Value of 1 means backlight compensation is enabled." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_BACKLIGHT_COMPENSATION : k4a_color_control_command_t = 7 ; # [ doc = " Gain setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May only be set to ::K4A_COLOR_CONTROL_MODE_MANUAL." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_GAIN : k4a_color_control_command_t = 8 ; # [ doc = " Powerline frequency setting." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " May only be set to ::K4A_COLOR_CONTROL_MODE_MANUAL." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Value of 1 sets the powerline compensation to 50 Hz. Value of 2 sets the powerline compensation to 60 Hz." ] pub const k4a_color_control_command_t_K4A_COLOR_CONTROL_POWERLINE_FREQUENCY : k4a_color_control_command_t = 9 ; # [ doc = " Color sensor control commands" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The current settings can be read with k4a_device_get_color_control(). The settings can be set with" ] # [ doc = " k4a_device_set_color_control()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Control values set on a device are reset only when the device is power cycled. The device will retain the settings" ] # [ doc = " even if the \\ref k4a_device_t is closed or the application is restarted." ] # [ doc = "" ] # [ doc = " \\see k4a_color_control_mode_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_color_control_command_t = u32 ; # [ doc = "< set the associated k4a_color_control_command_t to auto" ] pub const k4a_color_control_mode_t_K4A_COLOR_CONTROL_MODE_AUTO : k4a_color_control_mode_t = 0 ; # [ doc = "< set the associated k4a_color_control_command_t to manual" ] pub const k4a_color_control_mode_t_K4A_COLOR_CONTROL_MODE_MANUAL : k4a_color_control_mode_t = 1 ; # [ doc = " Color sensor control mode" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The current settings can be read with k4a_device_get_color_control(). The settings can be set with" ] # [ doc = " k4a_device_set_color_control()." ] # [ doc = "" ] # [ doc = " \\see k4a_color_control_command_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_color_control_mode_t = u32 ; # [ doc = "< Neither 'Sync In' or 'Sync Out' connections are used." ] pub const k4a_wired_sync_mode_t_K4A_WIRED_SYNC_MODE_STANDALONE : k4a_wired_sync_mode_t = 0 ; # [ doc = "< The 'Sync Out' jack is enabled and synchronization data it driven out the" ] # [ doc = "connected wire. While in master mode the color camera must be enabled as part of the" ] # [ doc = "multi device sync signalling logic. Even if the color image is not needed, the color" ] # [ doc = "camera must be running." ] pub const k4a_wired_sync_mode_t_K4A_WIRED_SYNC_MODE_MASTER : k4a_wired_sync_mode_t = 1 ; # [ doc = "< The 'Sync In' jack is used for synchronization and 'Sync Out' is driven for the" ] # [ doc = "next device in the chain. 'Sync Out' is a mirror of 'Sync In' for this mode." ] pub const k4a_wired_sync_mode_t_K4A_WIRED_SYNC_MODE_SUBORDINATE : k4a_wired_sync_mode_t = 2 ; # [ doc = " Synchronization mode when connecting two or more devices together." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_wired_sync_mode_t = u32 ; # [ doc = "< Calibration type is unknown" ] pub const k4a_calibration_type_t_K4A_CALIBRATION_TYPE_UNKNOWN : k4a_calibration_type_t = -1 ; # [ doc = "< Depth sensor" ] pub const k4a_calibration_type_t_K4A_CALIBRATION_TYPE_DEPTH : k4a_calibration_type_t = 0 ; # [ doc = "< Color sensor" ] pub const k4a_calibration_type_t_K4A_CALIBRATION_TYPE_COLOR : k4a_calibration_type_t = 1 ; # [ doc = "< Gyroscope sensor" ] pub const k4a_calibration_type_t_K4A_CALIBRATION_TYPE_GYRO : k4a_calibration_type_t = 2 ; # [ doc = "< Accelerometer sensor" ] pub const k4a_calibration_type_t_K4A_CALIBRATION_TYPE_ACCEL : k4a_calibration_type_t = 3 ; # [ doc = "< Number of types excluding unknown type" ] pub const k4a_calibration_type_t_K4A_CALIBRATION_TYPE_NUM : k4a_calibration_type_t = 4 ; # [ doc = " Calibration types." ] # [ doc = "" ] # [ doc = " Specifies a type of calibration." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_calibration_type_t = i32 ; # [ doc = "< Calibration model is unknown" ] pub const k4a_calibration_model_type_t_K4A_CALIBRATION_LENS_DISTORTION_MODEL_UNKNOWN : k4a_calibration_model_type_t = 0 ; # [ doc = "< Deprecated (not supported). Calibration model is Theta (arctan)." ] pub const k4a_calibration_model_type_t_K4A_CALIBRATION_LENS_DISTORTION_MODEL_THETA : k4a_calibration_model_type_t = 1 ; # [ doc = "< Deprecated (not supported). Calibration model is" ] # [ doc = "Polynomial 3K." ] pub const k4a_calibration_model_type_t_K4A_CALIBRATION_LENS_DISTORTION_MODEL_POLYNOMIAL_3K : k4a_calibration_model_type_t = 2 ; # [ doc = "< Deprecated (only supported early internal devices)." ] # [ doc = "Calibration model is Rational 6KT." ] pub const k4a_calibration_model_type_t_K4A_CALIBRATION_LENS_DISTORTION_MODEL_RATIONAL_6KT : k4a_calibration_model_type_t = 3 ; # [ doc = "< Calibration model is Brown Conrady (compatible with" ] # [ doc = " OpenCV)" ] pub const k4a_calibration_model_type_t_K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY : k4a_calibration_model_type_t = 4 ; # [ doc = " Calibration model type." ] # [ doc = "" ] # [ doc = " The model used interpret the calibration parameters." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Azure Kinect devices are calibrated with Brown Conrady." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_calibration_model_type_t = u32 ; # [ doc = "< Production firmware." ] pub const k4a_firmware_build_t_K4A_FIRMWARE_BUILD_RELEASE : k4a_firmware_build_t = 0 ; # [ doc = "< Pre-production firmware." ] pub const k4a_firmware_build_t_K4A_FIRMWARE_BUILD_DEBUG : k4a_firmware_build_t = 1 ; # [ doc = " Firmware build type." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_firmware_build_t = u32 ; # [ doc = "< Microsoft signed firmware." ] pub const k4a_firmware_signature_t_K4A_FIRMWARE_SIGNATURE_MSFT : k4a_firmware_signature_t = 0 ; # [ doc = "< Test signed firmware." ] pub const k4a_firmware_signature_t_K4A_FIRMWARE_SIGNATURE_TEST : k4a_firmware_signature_t = 1 ; # [ doc = "< Unsigned firmware." ] pub const k4a_firmware_signature_t_K4A_FIRMWARE_SIGNATURE_UNSIGNED : k4a_firmware_signature_t = 2 ; # [ doc = " Firmware signature type." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub type k4a_firmware_signature_t = u32 ; # [ doc = " Callback function for debug messages being generated by the Azure Kinect SDK." ] # [ doc = "" ] # [ doc = " \\param context" ] # [ doc = " The context of the callback function. This is the context that was supplied by the caller to \\p" ] # [ doc = " k4a_set_debug_message_handler." ] # [ doc = "" ] # [ doc = " \\param level" ] # [ doc = " The level of the message that has been created." ] # [ doc = "" ] # [ doc = " \\param file" ] # [ doc = " The file name of the source file that generated the message." ] # [ doc = "" ] # [ doc = " \\param line" ] # [ doc = " The line number of the source file that generated the message." ] # [ doc = "" ] # [ doc = " \\param message" ] # [ doc = " The messaged generated by the Azure Kinect SDK." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The callback is called asynchronously when the Azure Kinext SDK generates a message at a \\p level that is equal to" ] # [ doc = " or more critical than the level specified when calling \\ref k4a_set_debug_message_handler() to register the callback." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This callback can occur from any thread and blocks the calling thread. The k4a_logging_message_cb_t function user" ] # [ doc = " must protect it's logging resources from concurrent calls. All care should be made to minimize the amount of time" ] # [ doc = " locks are held." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ doc = "" ] pub type k4a_logging_message_cb_t = :: std :: option :: Option < unsafe extern "C" fn ( context : * mut :: std :: os :: raw :: c_void , level : k4a_log_level_t , file : * const :: std :: os :: raw :: c_char , line : :: std :: os :: raw :: c_int , message : * const :: std :: os :: raw :: c_char ) > ; # [ doc = " Callback function for a memory object being destroyed." ] # [ doc = "" ] # [ doc = " \\param buffer" ] # [ doc = " The buffer pointer that was supplied by the caller as \\p buffer_release_cb to \\ref k4a_image_create_from_buffer()." ] # [ doc = "" ] # [ doc = " \\param context" ] # [ doc = " The context for the memory object that needs to be destroyed that was supplied by the caller as \\p" ] # [ doc = " buffer_release_cb_context to \\ref k4a_image_create_from_buffer()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " When all references for the memory object are released, this callback will be invoked as the final destroy for the" ] # [ doc = " given memory." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ doc = "" ] pub type k4a_memory_destroy_cb_t = :: std :: option :: Option < unsafe extern "C" fn ( buffer : * mut :: std :: os :: raw :: c_void , context : * mut :: std :: os :: raw :: c_void ) > ; # [ doc = " Callback function for a memory allocation." ] # [ doc = "" ] # [ doc = " \\param size" ] # [ doc = " Minimum size in bytes needed for the buffer." ] # [ doc = "" ] # [ doc = " \\param context" ] # [ doc = " Output parameter for a context that will be provided in the subsequent call to the \\ref k4a_memory_destroy_cb_t" ] # [ doc = " callback." ] # [ doc = "" ] # [ doc = " \\return" ] # [ doc = " A pointer to the newly allocated memory." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " A callback of this type is provided when there is an application defined allocator." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ doc = "" ] pub type k4a_memory_allocate_cb_t = :: std :: option :: Option < unsafe extern "C" fn ( size : :: std :: os :: raw :: c_int , context : * mut * mut :: std :: os :: raw :: c_void ) -> * mut u8 > ; # [ doc = " Configuration parameters for an Azure Kinect device." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Used by k4a_device_start_cameras() to specify the configuration of the data capture." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct _k4a_device_configuration_t { # [ doc = " Image format to capture with the color camera." ] # [ doc = "" ] # [ doc = " The color camera does not natively produce BGRA32 images." ] # [ doc = " Setting ::K4A_IMAGE_FORMAT_COLOR_BGRA32 for color_format will result in higher CPU utilization." ] pub color_format : k4a_image_format_t , # [ doc = " Image resolution to capture with the color camera." ] pub color_resolution : k4a_color_resolution_t , # [ doc = " Capture mode for the depth camera." ] pub depth_mode : k4a_depth_mode_t , # [ doc = " Desired frame rate for the color and depth camera." ] pub camera_fps : k4a_fps_t , # [ doc = " Only produce k4a_capture_t objects if they contain synchronized color and depth images." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " This setting controls the behavior in which images are dropped when images are produced faster than they can be" ] # [ doc = " read, or if there are errors in reading images from the device." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " If set to true, \\ref k4a_capture_t objects will only be produced with both color and depth images." ] # [ doc = " If set to false, \\ref k4a_capture_t objects may be produced only a single image when the corresponding image is" ] # [ doc = " dropped." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Setting this to false ensures that the caller receives all of the images received from the camera, regardless of" ] # [ doc = " whether the corresponding images expected in the capture are available." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " If either the color or depth camera are disabled, this setting has no effect." ] pub synchronized_images_only : bool , # [ doc = " Desired delay between the capture of the color image and the capture of the depth image." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " A negative value indicates that the depth image should be captured before the color image." ] # [ doc = "" ] # [ doc = " \\details" ] # [ doc = " Any value between negative and positive one capture period is valid." ] pub depth_delay_off_color_usec : i32 , # [ doc = " The external synchronization mode." ] pub wired_sync_mode : k4a_wired_sync_mode_t , # [ doc = " The external synchronization timing." ] # [ doc = "" ] # [ doc = " If this camera is a subordinate, this sets the capture delay between the color camera capture and the external" ] # [ doc = " input pulse. A setting of zero indicates that the master and subordinate color images should be aligned." ] # [ doc = "" ] # [ doc = " This setting does not effect the 'Sync out' connection." ] # [ doc = "" ] # [ doc = " This value must be positive and range from zero to one capture period." ] # [ doc = "" ] # [ doc = " If this is not a subordinate, then this value is ignored." ] pub subordinate_delay_off_master_usec : u32 , # [ doc = " Streaming indicator automatically turns on when the color or depth camera's are in use." ] # [ doc = "" ] # [ doc = " This setting disables that behavior and keeps the LED in an off state." ] pub disable_streaming_indicator : bool , } # [ test ] fn bindgen_test_layout__k4a_device_configuration_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_device_configuration_t > ( ) , 36usize , concat ! ( "Size of: " , stringify ! ( _k4a_device_configuration_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_device_configuration_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( _k4a_device_configuration_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_configuration_t > ( ) ) ) . color_format as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_configuration_t ) , "::" , stringify ! ( color_format ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_configuration_t > ( ) ) ) . color_resolution as * const _ as usize } , 4usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_configuration_t ) , "::" , stringify ! ( color_resolution ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_configuration_t > ( ) ) ) . depth_mode as * const _ as usize } , 8usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_configuration_t ) , "::" , stringify ! ( depth_mode ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_configuration_t > ( ) ) ) . camera_fps as * const _ as usize } , 12usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_configuration_t ) , "::" , stringify ! ( camera_fps ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_configuration_t > ( ) ) ) . synchronized_images_only as * const _ as usize } , 16usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_configuration_t ) , "::" , stringify ! ( synchronized_images_only ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_configuration_t > ( ) ) ) . depth_delay_off_color_usec as * const _ as usize } , 20usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_configuration_t ) , "::" , stringify ! ( depth_delay_off_color_usec ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_configuration_t > ( ) ) ) . wired_sync_mode as * const _ as usize } , 24usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_configuration_t ) , "::" , stringify ! ( wired_sync_mode ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_configuration_t > ( ) ) ) . subordinate_delay_off_master_usec as * const _ as usize } , 28usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_configuration_t ) , "::" , stringify ! ( subordinate_delay_off_master_usec ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_device_configuration_t > ( ) ) ) . disable_streaming_indicator as * const _ as usize } , 32usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_device_configuration_t ) , "::" , stringify ! ( disable_streaming_indicator ) ) ) ; } pub type k4a_device_configuration_t = _k4a_device_configuration_t ; # [ doc = " Extrinsic calibration data." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Extrinsic calibration defines the physical relationship between two separate devices." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_camera_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct _k4a_calibration_extrinsics_t { # [ doc = "< 3x3 Rotation matrix stored in row major order" ] pub rotation : [ f32 ; 9usize ] , # [ doc = "< Translation vector, x,y,z (in millimeters)" ] pub translation : [ f32 ; 3usize ] , } # [ test ] fn bindgen_test_layout__k4a_calibration_extrinsics_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_calibration_extrinsics_t > ( ) , 48usize , concat ! ( "Size of: " , stringify ! ( _k4a_calibration_extrinsics_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_calibration_extrinsics_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( _k4a_calibration_extrinsics_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_extrinsics_t > ( ) ) ) . rotation as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_extrinsics_t ) , "::" , stringify ! ( rotation ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_extrinsics_t > ( ) ) ) . translation as * const _ as usize } , 36usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_extrinsics_t ) , "::" , stringify ! ( translation ) ) ) ; } pub type k4a_calibration_extrinsics_t = _k4a_calibration_extrinsics_t ; # [ doc = " Camera intrinsic calibration data." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Intrinsic calibration represents the internal optical properties of the camera." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Azure Kinect devices are calibrated with Brown Conrady which is compatible" ] # [ doc = " with OpenCV." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_camera_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Copy , Clone ) ] pub union k4a_calibration_intrinsic_parameters_t { # [ doc = "< Individual parameter representation of intrinsic model" ] pub param : k4a_calibration_intrinsic_parameters_t__param , # [ doc = "< Array representation of intrinsic model parameters" ] pub v : [ f32 ; 15usize ] , _bindgen_union_align : [ u32 ; 15usize ] , } # [ doc = " individual parameter or array representation of intrinsic model." ] # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct k4a_calibration_intrinsic_parameters_t__param { # [ doc = "< Principal point in image, x" ] pub cx : f32 , # [ doc = "< Principal point in image, y" ] pub cy : f32 , # [ doc = "< Focal length x" ] pub fx : f32 , # [ doc = "< Focal length y" ] pub fy : f32 , # [ doc = "< k1 radial distortion coefficient" ] pub k1 : f32 , # [ doc = "< k2 radial distortion coefficient" ] pub k2 : f32 , # [ doc = "< k3 radial distortion coefficient" ] pub k3 : f32 , # [ doc = "< k4 radial distortion coefficient" ] pub k4 : f32 , # [ doc = "< k5 radial distortion coefficient" ] pub k5 : f32 , # [ doc = "< k6 radial distortion coefficient" ] pub k6 : f32 , # [ doc = "< Center of distortion in Z=1 plane, x (only used for Rational6KT)" ] pub codx : f32 , # [ doc = "< Center of distortion in Z=1 plane, y (only used for Rational6KT)" ] pub cody : f32 , # [ doc = "< Tangential distortion coefficient 2" ] pub p2 : f32 , # [ doc = "< Tangential distortion coefficient 1" ] pub p1 : f32 , # [ doc = "< Metric radius" ] pub metric_radius : f32 , } # [ test ] fn bindgen_test_layout_k4a_calibration_intrinsic_parameters_t__param ( ) { assert_eq ! ( :: std :: mem :: size_of :: < k4a_calibration_intrinsic_parameters_t__param > ( ) , 60usize , concat ! ( "Size of: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < k4a_calibration_intrinsic_parameters_t__param > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . cx as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( cx ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . cy as * const _ as usize } , 4usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( cy ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . fx as * const _ as usize } , 8usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( fx ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . fy as * const _ as usize } , 12usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( fy ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . k1 as * const _ as usize } , 16usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( k1 ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . k2 as * const _ as usize } , 20usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( k2 ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . k3 as * const _ as usize } , 24usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( k3 ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . k4 as * const _ as usize } , 28usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( k4 ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . k5 as * const _ as usize } , 32usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( k5 ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . k6 as * const _ as usize } , 36usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( k6 ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . codx as * const _ as usize } , 40usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( codx ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . cody as * const _ as usize } , 44usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( cody ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . p2 as * const _ as usize } , 48usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( p2 ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . p1 as * const _ as usize } , 52usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( p1 ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t__param > ( ) ) ) . metric_radius as * const _ as usize } , 56usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t__param ) , "::" , stringify ! ( metric_radius ) ) ) ; } # [ test ] fn bindgen_test_layout_k4a_calibration_intrinsic_parameters_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < k4a_calibration_intrinsic_parameters_t > ( ) , 60usize , concat ! ( "Size of: " , stringify ! ( k4a_calibration_intrinsic_parameters_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < k4a_calibration_intrinsic_parameters_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( k4a_calibration_intrinsic_parameters_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t > ( ) ) ) . param as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t ) , "::" , stringify ! ( param ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_calibration_intrinsic_parameters_t > ( ) ) ) . v as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( k4a_calibration_intrinsic_parameters_t ) , "::" , stringify ! ( v ) ) ) ; } # [ doc = " Camera sensor intrinsic calibration data." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Intrinsic calibration represents the internal optical properties of the camera." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Azure Kinect devices are calibrated with Brown Conrady which is compatible" ] # [ doc = " with OpenCV." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_camera_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Copy , Clone ) ] pub struct _k4a_calibration_intrinsics_t { # [ doc = "< Type of calibration model used" ] pub type_ : k4a_calibration_model_type_t , # [ doc = "< Number of valid entries in parameters" ] pub parameter_count : :: std :: os :: raw :: c_uint , # [ doc = "< Calibration parameters" ] pub parameters : k4a_calibration_intrinsic_parameters_t , } # [ test ] fn bindgen_test_layout__k4a_calibration_intrinsics_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_calibration_intrinsics_t > ( ) , 68usize , concat ! ( "Size of: " , stringify ! ( _k4a_calibration_intrinsics_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_calibration_intrinsics_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( _k4a_calibration_intrinsics_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_intrinsics_t > ( ) ) ) . type_ as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_intrinsics_t ) , "::" , stringify ! ( type_ ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_intrinsics_t > ( ) ) ) . parameter_count as * const _ as usize } , 4usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_intrinsics_t ) , "::" , stringify ! ( parameter_count ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_intrinsics_t > ( ) ) ) . parameters as * const _ as usize } , 8usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_intrinsics_t ) , "::" , stringify ! ( parameters ) ) ) ; } pub type k4a_calibration_intrinsics_t = _k4a_calibration_intrinsics_t ; # [ doc = " Camera calibration contains intrinsic and extrinsic calibration information for a camera." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_camera_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Copy , Clone ) ] pub struct _k4a_calibration_camera_t { # [ doc = "< Extrinsic calibration data." ] pub extrinsics : k4a_calibration_extrinsics_t , # [ doc = "< Intrinsic calibration data." ] pub intrinsics : k4a_calibration_intrinsics_t , # [ doc = "< Resolution width of the calibration sensor." ] pub resolution_width : :: std :: os :: raw :: c_int , # [ doc = "< Resolution height of the calibration sensor." ] pub resolution_height : :: std :: os :: raw :: c_int , # [ doc = "< Max FOV of the camera." ] pub metric_radius : f32 , } # [ test ] fn bindgen_test_layout__k4a_calibration_camera_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_calibration_camera_t > ( ) , 128usize , concat ! ( "Size of: " , stringify ! ( _k4a_calibration_camera_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_calibration_camera_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( _k4a_calibration_camera_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_camera_t > ( ) ) ) . extrinsics as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_camera_t ) , "::" , stringify ! ( extrinsics ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_camera_t > ( ) ) ) . intrinsics as * const _ as usize } , 48usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_camera_t ) , "::" , stringify ! ( intrinsics ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_camera_t > ( ) ) ) . resolution_width as * const _ as usize } , 116usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_camera_t ) , "::" , stringify ! ( resolution_width ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_camera_t > ( ) ) ) . resolution_height as * const _ as usize } , 120usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_camera_t ) , "::" , stringify ! ( resolution_height ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_camera_t > ( ) ) ) . metric_radius as * const _ as usize } , 124usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_camera_t ) , "::" , stringify ! ( metric_radius ) ) ) ; } pub type k4a_calibration_camera_t = _k4a_calibration_camera_t ; # [ doc = " Calibration type representing device calibration." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Copy , Clone ) ] pub struct _k4a_calibration_t { # [ doc = "< Depth camera calibration." ] pub depth_camera_calibration : k4a_calibration_camera_t , # [ doc = "< Color camera calibration." ] pub color_camera_calibration : k4a_calibration_camera_t , # [ doc = " Extrinsic transformation parameters." ] # [ doc = "" ] # [ doc = " The extrinsic parameters allow 3D coordinate conversions between depth camera, color camera, the IMU's gyroscope" ] # [ doc = " and accelerometer. To transform from a source to a target 3D coordinate system, use the parameters stored" ] # [ doc = " under extrinsics[source][target]." ] pub extrinsics : [ [ k4a_calibration_extrinsics_t ; 4usize ] ; 4usize ] , # [ doc = "< Depth camera mode for which calibration was obtained." ] pub depth_mode : k4a_depth_mode_t , # [ doc = "< Color camera resolution for which calibration was obtained." ] pub color_resolution : k4a_color_resolution_t , } # [ test ] fn bindgen_test_layout__k4a_calibration_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_calibration_t > ( ) , 1032usize , concat ! ( "Size of: " , stringify ! ( _k4a_calibration_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_calibration_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( _k4a_calibration_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_t > ( ) ) ) . depth_camera_calibration as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_t ) , "::" , stringify ! ( depth_camera_calibration ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_t > ( ) ) ) . color_camera_calibration as * const _ as usize } , 128usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_t ) , "::" , stringify ! ( color_camera_calibration ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_t > ( ) ) ) . extrinsics as * const _ as usize } , 256usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_t ) , "::" , stringify ! ( extrinsics ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_t > ( ) ) ) . depth_mode as * const _ as usize } , 1024usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_t ) , "::" , stringify ! ( depth_mode ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_calibration_t > ( ) ) ) . color_resolution as * const _ as usize } , 1028usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_calibration_t ) , "::" , stringify ! ( color_resolution ) ) ) ; } pub type k4a_calibration_t = _k4a_calibration_t ; # [ doc = " Version information." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct _k4a_version_t { # [ doc = "< Major version; represents a breaking change." ] pub major : u32 , # [ doc = "< Minor version; represents additional features, no regression from lower versions with same" ] # [ doc = "major version." ] pub minor : u32 , # [ doc = "< Reserved." ] pub iteration : u32 , } # [ test ] fn bindgen_test_layout__k4a_version_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_version_t > ( ) , 12usize , concat ! ( "Size of: " , stringify ! ( _k4a_version_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_version_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( _k4a_version_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_version_t > ( ) ) ) . major as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_version_t ) , "::" , stringify ! ( major ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_version_t > ( ) ) ) . minor as * const _ as usize } , 4usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_version_t ) , "::" , stringify ! ( minor ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_version_t > ( ) ) ) . iteration as * const _ as usize } , 8usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_version_t ) , "::" , stringify ! ( iteration ) ) ) ; } pub type k4a_version_t = _k4a_version_t ; # [ doc = " Structure to define hardware version." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct _k4a_hardware_version_t { # [ doc = "< Color camera firmware version." ] pub rgb : k4a_version_t , # [ doc = "< Depth camera firmware version." ] pub depth : k4a_version_t , # [ doc = "< Audio device firmware version." ] pub audio : k4a_version_t , # [ doc = "< Depth sensor firmware version." ] pub depth_sensor : k4a_version_t , # [ doc = "< Build type reported by the firmware." ] pub firmware_build : k4a_firmware_build_t , # [ doc = "< Signature type of the firmware." ] pub firmware_signature : k4a_firmware_signature_t , } # [ test ] fn bindgen_test_layout__k4a_hardware_version_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_hardware_version_t > ( ) , 56usize , concat ! ( "Size of: " , stringify ! ( _k4a_hardware_version_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_hardware_version_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( _k4a_hardware_version_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_hardware_version_t > ( ) ) ) . rgb as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_hardware_version_t ) , "::" , stringify ! ( rgb ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_hardware_version_t > ( ) ) ) . depth as * const _ as usize } , 12usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_hardware_version_t ) , "::" , stringify ! ( depth ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_hardware_version_t > ( ) ) ) . audio as * const _ as usize } , 24usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_hardware_version_t ) , "::" , stringify ! ( audio ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_hardware_version_t > ( ) ) ) . depth_sensor as * const _ as usize } , 36usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_hardware_version_t ) , "::" , stringify ! ( depth_sensor ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_hardware_version_t > ( ) ) ) . firmware_build as * const _ as usize } , 48usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_hardware_version_t ) , "::" , stringify ! ( firmware_build ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_hardware_version_t > ( ) ) ) . firmware_signature as * const _ as usize } , 52usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_hardware_version_t ) , "::" , stringify ! ( firmware_signature ) ) ) ; } pub type k4a_hardware_version_t = _k4a_hardware_version_t ; # [ doc = " Two dimensional floating point vector." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Copy , Clone ) ] pub union k4a_float2_t { # [ doc = "< X, Y representation of a vector" ] pub xy : k4a_float2_t__xy , # [ doc = "< Array representation of a vector" ] pub v : [ f32 ; 2usize ] , _bindgen_union_align : [ u32 ; 2usize ] , } # [ doc = " XY or array representation of vector" ] # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct k4a_float2_t__xy { # [ doc = "< X component of a vector" ] pub x : f32 , # [ doc = "< Y component of a vector" ] pub y : f32 , } # [ test ] fn bindgen_test_layout_k4a_float2_t__xy ( ) { assert_eq ! ( :: std :: mem :: size_of :: < k4a_float2_t__xy > ( ) , 8usize , concat ! ( "Size of: " , stringify ! ( k4a_float2_t__xy ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < k4a_float2_t__xy > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( k4a_float2_t__xy ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_float2_t__xy > ( ) ) ) . x as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( k4a_float2_t__xy ) , "::" , stringify ! ( x ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_float2_t__xy > ( ) ) ) . y as * const _ as usize } , 4usize , concat ! ( "Offset of field: " , stringify ! ( k4a_float2_t__xy ) , "::" , stringify ! ( y ) ) ) ; } # [ test ] fn bindgen_test_layout_k4a_float2_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < k4a_float2_t > ( ) , 8usize , concat ! ( "Size of: " , stringify ! ( k4a_float2_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < k4a_float2_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( k4a_float2_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_float2_t > ( ) ) ) . xy as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( k4a_float2_t ) , "::" , stringify ! ( xy ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_float2_t > ( ) ) ) . v as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( k4a_float2_t ) , "::" , stringify ! ( v ) ) ) ; } # [ doc = " Three dimensional floating point vector." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Copy , Clone ) ] pub union k4a_float3_t { # [ doc = "< X, Y, Z representation of a vector." ] pub xyz : k4a_float3_t__xyz , # [ doc = "< Array representation of a vector." ] pub v : [ f32 ; 3usize ] , _bindgen_union_align : [ u32 ; 3usize ] , } # [ doc = " XYZ or array representation of vector." ] # [ repr ( C ) ] # [ derive ( Debug , Copy , Clone ) ] pub struct k4a_float3_t__xyz { # [ doc = "< X component of a vector." ] pub x : f32 , # [ doc = "< Y component of a vector." ] pub y : f32 , # [ doc = "< Z component of a vector." ] pub z : f32 , } # [ test ] fn bindgen_test_layout_k4a_float3_t__xyz ( ) { assert_eq ! ( :: std :: mem :: size_of :: < k4a_float3_t__xyz > ( ) , 12usize , concat ! ( "Size of: " , stringify ! ( k4a_float3_t__xyz ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < k4a_float3_t__xyz > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( k4a_float3_t__xyz ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_float3_t__xyz > ( ) ) ) . x as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( k4a_float3_t__xyz ) , "::" , stringify ! ( x ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_float3_t__xyz > ( ) ) ) . y as * const _ as usize } , 4usize , concat ! ( "Offset of field: " , stringify ! ( k4a_float3_t__xyz ) , "::" , stringify ! ( y ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_float3_t__xyz > ( ) ) ) . z as * const _ as usize } , 8usize , concat ! ( "Offset of field: " , stringify ! ( k4a_float3_t__xyz ) , "::" , stringify ! ( z ) ) ) ; } # [ test ] fn bindgen_test_layout_k4a_float3_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < k4a_float3_t > ( ) , 12usize , concat ! ( "Size of: " , stringify ! ( k4a_float3_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < k4a_float3_t > ( ) , 4usize , concat ! ( "Alignment of " , stringify ! ( k4a_float3_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_float3_t > ( ) ) ) . xyz as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( k4a_float3_t ) , "::" , stringify ! ( xyz ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < k4a_float3_t > ( ) ) ) . v as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( k4a_float3_t ) , "::" , stringify ! ( v ) ) ) ; } # [ doc = " IMU sample." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4atypes.h (include k4a/k4a.h)</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ repr ( C ) ] # [ derive ( Copy , Clone ) ] pub struct _k4a_imu_sample_t { # [ doc = "< Temperature reading of this sample (Celsius)." ] pub temperature : f32 , # [ doc = "< Accelerometer sample in meters per second squared." ] pub acc_sample : k4a_float3_t , # [ doc = "< Timestamp of the accelerometer in microseconds." ] pub acc_timestamp_usec : u64 , # [ doc = "< Gyro sample in radians per second." ] pub gyro_sample : k4a_float3_t , # [ doc = "< Timestamp of the gyroscope in microseconds" ] pub gyro_timestamp_usec : u64 , } # [ test ] fn bindgen_test_layout__k4a_imu_sample_t ( ) { assert_eq ! ( :: std :: mem :: size_of :: < _k4a_imu_sample_t > ( ) , 48usize , concat ! ( "Size of: " , stringify ! ( _k4a_imu_sample_t ) ) ) ; assert_eq ! ( :: std :: mem :: align_of :: < _k4a_imu_sample_t > ( ) , 8usize , concat ! ( "Alignment of " , stringify ! ( _k4a_imu_sample_t ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_imu_sample_t > ( ) ) ) . temperature as * const _ as usize } , 0usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_imu_sample_t ) , "::" , stringify ! ( temperature ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_imu_sample_t > ( ) ) ) . acc_sample as * const _ as usize } , 4usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_imu_sample_t ) , "::" , stringify ! ( acc_sample ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_imu_sample_t > ( ) ) ) . acc_timestamp_usec as * const _ as usize } , 16usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_imu_sample_t ) , "::" , stringify ! ( acc_timestamp_usec ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_imu_sample_t > ( ) ) ) . gyro_sample as * const _ as usize } , 24usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_imu_sample_t ) , "::" , stringify ! ( gyro_sample ) ) ) ; assert_eq ! ( unsafe { & ( * ( :: std :: ptr :: null :: < _k4a_imu_sample_t > ( ) ) ) . gyro_timestamp_usec as * const _ as usize } , 40usize , concat ! ( "Offset of field: " , stringify ! ( _k4a_imu_sample_t ) , "::" , stringify ! ( gyro_timestamp_usec ) ) ) ; } pub type k4a_imu_sample_t = _k4a_imu_sample_t ; extern "C" { pub static K4A_DEVICE_CONFIG_INIT_DISABLE_ALL : k4a_device_configuration_t ; } extern "C" { # [ doc = " Gets the number of connected devices" ] # [ doc = "" ] # [ doc = " \\returns Number of sensors connected to the PC." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This API counts the number of Azure Kinect devices connected to the host PC." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_get_installed_count ( ) -> u32 ; } extern "C" { # [ doc = " Sets and clears the callback function to receive debug messages from the Azure Kinect device." ] # [ doc = "" ] # [ doc = " \\param message_cb" ] # [ doc = " The callback function to receive messages from. Set to NULL to unregister the callback function." ] # [ doc = "" ] # [ doc = " \\param message_cb_context" ] # [ doc = " The callback functions context." ] # [ doc = "" ] # [ doc = " \\param min_level" ] # [ doc = " The least critical error the user wants to be notified about." ] # [ doc = "" ] # [ doc = " \\return ::K4A_RESULT_SUCCEEDED if the callback function was set or cleared successfully. ::K4A_RESULT_FAILED if an" ] # [ doc = " error is encountered or the callback function has already been set." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Call this function to set or clear the callback function that is used to deliver debug messages to the caller. This" ] # [ doc = " callback may be called concurrently, it is up to the implementation of the callback function to ensure the" ] # [ doc = " parallelization is handled." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Clearing the callback function will block until all pending calls to the callback function have completed." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " To update \\p min_level, \\p k4a_set_debug_message_handler can be called with the same value \\p message_cb and by" ] # [ doc = " specifying a new \\p min_level." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Logging provided via this API is independent of the logging controlled by the environmental variable controls \\p" ] # [ doc = " K4A_ENABLE_LOG_TO_STDOUT, \\p K4A_ENABLE_LOG_TO_A_FILE, and \\p K4A_LOG_LEVEL. However there is a slight change in" ] # [ doc = " default behavior when using this function. By default, when \\p k4a_set_debug_message_handler() has not been used to" ] # [ doc = " register a message callback, the default for environmental variable controls is to send debug messages as if" ] # [ doc = " K4A_ENABLE_LOG_TO_STDOUT=1 were set. If \\p k4a_set_debug_message_handler registers a callback function before" ] # [ doc = " k4a_device_open() is called, then the default for environmental controls is as if K4A_ENABLE_LOG_TO_STDOUT=0 was" ] # [ doc = " specified. Physically specifying the environmental control will override the default." ] # [ doc = "" ] # [ doc = " \\p min_level" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_set_debug_message_handler ( message_cb : k4a_logging_message_cb_t , message_cb_context : * mut :: std :: os :: raw :: c_void , min_level : k4a_log_level_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Sets the callback functions for the SDK allocator" ] # [ doc = "" ] # [ doc = " \\param allocate" ] # [ doc = " The callback function to allocate memory. When the SDK requires memory allocation this callback will be" ] # [ doc = " called and the application can provide a buffer and a context." ] # [ doc = "" ] # [ doc = " \\param free" ] # [ doc = " The callback function to free memory. The SDK will call this function when memory allocated by \\p allocate" ] # [ doc = " is no longer needed." ] # [ doc = "" ] # [ doc = " \\return ::K4A_RESULT_SUCCEEDED if the callback function was set or cleared successfully. ::K4A_RESULT_FAILED if an" ] # [ doc = " error is encountered or the callback function has already been set." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Call this function to hook memory allocation by the SDK. Calling with both \\p allocate and \\p free as NULL will" ] # [ doc = " clear the hook and reset to the default allocator." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If this function is called after memory has been allocated, the previous version of \\p free function may still be" ] # [ doc = " called in the future. The SDK will always call the \\p free function that was set at the time that the memory" ] # [ doc = " was allocated." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Not all memory allocation by the SDK is performed by this allocate function. Small allocations or allocations" ] # [ doc = " from special pools may come from other sources." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_set_allocator ( allocate : k4a_memory_allocate_cb_t , free : k4a_memory_destroy_cb_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Open an Azure Kinect device." ] # [ doc = "" ] # [ doc = " \\param index" ] # [ doc = " The index of the device to open, starting with 0. Optionally pass in #K4A_DEVICE_DEFAULT." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Output parameter which on success will return a handle to the device." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\return ::K4A_RESULT_SUCCEEDED if the device was opened successfully." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If successful, k4a_device_open() will return a device handle in the device_handle parameter." ] # [ doc = " This handle grants exclusive access to the device and may be used in the other Azure Kinect API calls." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " When done with the device, close the handle with k4a_device_close()" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_open ( index : u32 , device_handle : * mut k4a_device_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Closes an Azure Kinect device." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks Once closed, the handle is no longer valid." ] # [ doc = "" ] # [ doc = " \\remarks Before closing the handle to the device, ensure that all \\ref k4a_capture_t captures have been released with" ] # [ doc = " k4a_capture_release()." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_close ( device_handle : k4a_device_t ) ; } extern "C" { # [ doc = " Reads a sensor capture." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " If successful this contains a handle to a capture object. Caller must call k4a_capture_release() when its done using" ] # [ doc = " this capture." ] # [ doc = "" ] # [ doc = " \\param timeout_in_ms" ] # [ doc = " Specifies the time in milliseconds the function should block waiting for the capture. If set to 0, the function will" ] # [ doc = " return without blocking. Passing a value of #K4A_WAIT_INFINITE will block indefinitely until data is available, the" ] # [ doc = " device is disconnected, or another error occurs." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_WAIT_RESULT_SUCCEEDED if a capture is returned. If a capture is not available before the timeout elapses, the" ] # [ doc = " function will return ::K4A_WAIT_RESULT_TIMEOUT. All other failures will return ::K4A_WAIT_RESULT_FAILED." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Gets the next capture in the streamed sequence of captures from the camera. If a new capture is not currently" ] # [ doc = " available, this function will block until the timeout is reached. The SDK will buffer at least two captures worth" ] # [ doc = " of data before dropping the oldest capture. Callers needing to capture all data need to ensure they read the data as" ] # [ doc = " fast as the data is being produced on average." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Upon successfully reading a capture this function will return success and populate \\p capture." ] # [ doc = " If a capture is not available in the configured \\p timeout_in_ms, then the API will return ::K4A_WAIT_RESULT_TIMEOUT." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If the call is successful and a capture is returned, callers must call k4a_capture_release() to return the allocated" ] # [ doc = " memory." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function needs to be called while the device is in a running state;" ] # [ doc = " after k4a_device_start_cameras() is called and before k4a_device_stop_cameras() is called." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function returns an error when an internal problem is encountered; such as loss of the USB connection, inability" ] # [ doc = " to allocate enough memory, and other unexpected issues. Any error returned by this function signals the end of" ] # [ doc = " streaming data, and caller should stop the stream using k4a_device_stop_cameras()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If this function is waiting for data (non-zero timeout) when k4a_device_stop_cameras() or k4a_device_close() is" ] # [ doc = " called on another thread, this function will return an error." ] # [ doc = "" ] # [ doc = " \\returns ::K4A_WAIT_RESULT_SUCCEEDED if a capture is returned. If a capture is not available before the timeout" ] # [ doc = " elapses, the function will return ::K4A_WAIT_RESULT_TIMEOUT. All other failures will return ::K4A_WAIT_RESULT_FAILED." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] # [ doc = "" ] pub fn k4a_device_get_capture ( device_handle : k4a_device_t , capture_handle : * mut k4a_capture_t , timeout_in_ms : i32 ) -> k4a_wait_result_t ; } extern "C" { # [ doc = " Reads an IMU sample." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param imu_sample" ] # [ doc = " Pointer to the location for the API to write the IMU sample." ] # [ doc = "" ] # [ doc = " \\param timeout_in_ms" ] # [ doc = " Specifies the time in milliseconds the function should block waiting for the sample. If set to 0, the function will" ] # [ doc = " return without blocking. Passing a value of #K4A_WAIT_INFINITE will block indefinitely until data is available, the" ] # [ doc = " device is disconnected, or another error occurs." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_WAIT_RESULT_SUCCEEDED if a sample is returned. If a sample is not available before the timeout elapses, the" ] # [ doc = " function will return ::K4A_WAIT_RESULT_TIMEOUT. All other failures will return ::K4A_WAIT_RESULT_FAILED." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Gets the next sample in the streamed sequence of IMU samples from the device. If a new sample is not currently" ] # [ doc = " available, this function will block until the timeout is reached. The API will buffer at least two camera capture" ] # [ doc = " intervals worth of samples before dropping the oldest sample. Callers needing to capture all data need to ensure they" ] # [ doc = " read the data as fast as the data is being produced on average." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Upon successfully reading a sample this function will return success and populate \\p imu_sample." ] # [ doc = " If a sample is not available in the configured \\p timeout_in_ms, then the API will return ::K4A_WAIT_RESULT_TIMEOUT." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function needs to be called while the device is in a running state;" ] # [ doc = " after k4a_device_start_imu() is called and before k4a_device_stop_imu() is called." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function returns an error when an internal problem is encountered; such as loss of the USB connection, inability" ] # [ doc = " to allocate enough memory, and other unexpected issues. Any error returned by this function signals the end of" ] # [ doc = " streaming data, and caller should stop the stream using k4a_device_stop_imu()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If this function is waiting for data (non-zero timeout) when k4a_device_stop_imu() or k4a_device_close() is" ] # [ doc = " called on another thread, this function will return an error." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The memory the IMU sample is written to is allocated and owned by the caller, so there is no need to call an Azure" ] # [ doc = " Kinect API to free or release the sample." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_get_imu_sample ( device_handle : k4a_device_t , imu_sample : * mut k4a_imu_sample_t , timeout_in_ms : i32 ) -> k4a_wait_result_t ; } extern "C" { # [ doc = " Create an empty capture object." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Pointer to a location to store the handle." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Call this function to create a \\ref k4a_capture_t handle for a new capture. Release it with k4a_capture_release()." ] # [ doc = "" ] # [ doc = " The new capture is created with a reference count of 1." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " Returns #K4A_RESULT_SUCCEEDED on success. Errors are indicated with #K4A_RESULT_FAILED and error specific data can be" ] # [ doc = " found in the log." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_create ( capture_handle : * mut k4a_capture_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Release a capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture to release." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Call this function when finished using the capture." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_release ( capture_handle : k4a_capture_t ) ; } extern "C" { # [ doc = " Add a reference to a capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture to add a reference to." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Call this function to add an additional reference to a capture. This reference must be removed with" ] # [ doc = " k4a_capture_release()." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_reference ( capture_handle : k4a_capture_t ) ; } extern "C" { # [ doc = " Get the color image associated with the given capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture handle containing the image." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Call this function to access the color image part of this capture. Release the \\ref k4a_image_t with" ] # [ doc = " k4a_image_release();" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_get_color_image ( capture_handle : k4a_capture_t ) -> k4a_image_t ; } extern "C" { # [ doc = " Get the depth image associated with the given capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture handle containing the image." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Call this function to access the depth image part of this capture. Release the \\ref k4a_image_t with" ] # [ doc = " k4a_image_release();" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_get_depth_image ( capture_handle : k4a_capture_t ) -> k4a_image_t ; } extern "C" { # [ doc = " Get the IR image associated with the given capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture handle containing the image." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Call this function to access the IR image part of this capture. Release the \\ref k4a_image_t with" ] # [ doc = " k4a_image_release();" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_get_ir_image ( capture_handle : k4a_capture_t ) -> k4a_image_t ; } extern "C" { # [ doc = " Set or add a color image to the associated capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture handle to hold the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Image handle containing the image." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " When a \\ref k4a_image_t is added to a \\ref k4a_capture_t, the \\ref k4a_capture_t will automatically add a reference" ] # [ doc = " to the \\ref k4a_image_t." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If there is already a color image contained in the capture, the existing image will be dereferenced and replaced with" ] # [ doc = " the new image." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " To remove a color image to the capture without adding a new image, this function can be called with a NULL" ] # [ doc = " image_handle." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Any \\ref k4a_image_t contained in this \\ref k4a_capture_t will automatically be dereferenced when all references to" ] # [ doc = " the \\ref k4a_capture_t are released with k4a_capture_release()." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_set_color_image ( capture_handle : k4a_capture_t , image_handle : k4a_image_t ) ; } extern "C" { # [ doc = " Set or add a depth image to the associated capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture handle to hold the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Image handle containing the image." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " When a \\ref k4a_image_t is added to a \\ref k4a_capture_t, the \\ref k4a_capture_t will automatically add a reference" ] # [ doc = " to the \\ref k4a_image_t." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If there is already an image depth image contained in the capture, the existing image will be dereferenced and" ] # [ doc = " replaced with the new image." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " To remove a depth image to the capture without adding a new image, this function can be called with a NULL" ] # [ doc = " image_handle." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Any \\ref k4a_image_t contained in this \\ref k4a_capture_t will automatically be dereferenced when all references to" ] # [ doc = " the \\ref k4a_capture_t are released with k4a_capture_release()." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_set_depth_image ( capture_handle : k4a_capture_t , image_handle : k4a_image_t ) ; } extern "C" { # [ doc = " Set or add an IR image to the associated capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture handle to hold the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Image handle containing the image." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " When a \\ref k4a_image_t is added to a \\ref k4a_capture_t, the \\ref k4a_capture_t will automatically add a reference" ] # [ doc = " to the \\ref k4a_image_t." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If there is already an IR image contained in the capture, the existing image will be dereferenced and replaced with" ] # [ doc = " the new image." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " To remove a IR image to the capture without adding a new image, this function can be called with a NULL image_handle." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Any \\ref k4a_image_t contained in this \\ref k4a_capture_t will automatically be dereferenced when all references to" ] # [ doc = " the \\ref k4a_capture_t are released with k4a_capture_release()." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_set_ir_image ( capture_handle : k4a_capture_t , image_handle : k4a_image_t ) ; } extern "C" { # [ doc = " Set the temperature associated with the capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture handle to set the temperature on." ] # [ doc = "" ] # [ doc = " \\param temperature_c" ] # [ doc = " Temperature in Celsius to store." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_set_temperature_c ( capture_handle : k4a_capture_t , temperature_c : f32 ) ; } extern "C" { # [ doc = " Get the temperature associated with the capture." ] # [ doc = "" ] # [ doc = " \\param capture_handle" ] # [ doc = " Capture handle to retrieve the temperature from." ] # [ doc = "" ] # [ doc = " \\return" ] # [ doc = " This function returns the temperature of the device at the time of the capture in Celsius. If" ] # [ doc = " the temperature is unavailable, the function will return NAN." ] # [ doc = "" ] # [ doc = " \\relates k4a_capture_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_capture_get_temperature_c ( capture_handle : k4a_capture_t ) -> f32 ; } extern "C" { # [ doc = " Create an image." ] # [ doc = "" ] # [ doc = " \\param format" ] # [ doc = " The format of the image that will be stored in this image container." ] # [ doc = "" ] # [ doc = " \\param width_pixels" ] # [ doc = " Width in pixels." ] # [ doc = "" ] # [ doc = " \\param height_pixels" ] # [ doc = " Height in pixels." ] # [ doc = "" ] # [ doc = " \\param stride_bytes" ] # [ doc = " The number of bytes per horizontal line of the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Pointer to store image handle in." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function is used to create images of formats that have consistent stride. The function is not suitable for" ] # [ doc = " compressed formats that may not be represented by the same number of bytes per line." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " For most image formats, the function will allocate an image buffer of size \\p height_pixels * \\p stride_bytes." ] # [ doc = " Buffers #K4A_IMAGE_FORMAT_COLOR_NV12 format will allocate an additional \\p height_pixels / 2 set of lines (each of \\p" ] # [ doc = " stride_bytes). This function cannot be used to allocate #K4A_IMAGE_FORMAT_COLOR_MJPG buffers." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " To create an image object without the API allocating memory, or to represent an image that has a non-deterministic" ] # [ doc = " stride, use k4a_image_create_from_buffer()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The \\ref k4a_image_t is created with a reference count of 1." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " When finished using the created image, release it with k4a_image_release." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " Returns #K4A_RESULT_SUCCEEDED on success. Errors are indicated with #K4A_RESULT_FAILED." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_create ( format : k4a_image_format_t , width_pixels : :: std :: os :: raw :: c_int , height_pixels : :: std :: os :: raw :: c_int , stride_bytes : :: std :: os :: raw :: c_int , image_handle : * mut k4a_image_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Create an image from a pre-allocated buffer." ] # [ doc = "" ] # [ doc = " \\param format" ] # [ doc = " The format of the image that will be stored in this image container." ] # [ doc = "" ] # [ doc = " \\param width_pixels" ] # [ doc = " Width in pixels." ] # [ doc = "" ] # [ doc = " \\param height_pixels" ] # [ doc = " Height in pixels." ] # [ doc = "" ] # [ doc = " \\param stride_bytes" ] # [ doc = " The number of bytes per horizontal line of the image." ] # [ doc = "" ] # [ doc = " \\param buffer" ] # [ doc = " Pointer to a pre-allocated image buffer." ] # [ doc = "" ] # [ doc = " \\param buffer_size" ] # [ doc = " Size in bytes of the pre-allocated image buffer." ] # [ doc = "" ] # [ doc = " \\param buffer_release_cb" ] # [ doc = " Callback to the buffer free function, called when all references to the buffer have been released. This parameter is" ] # [ doc = " optional." ] # [ doc = "" ] # [ doc = " \\param buffer_release_cb_context" ] # [ doc = " Context for the buffer free function. This value will be called as a parameter to \\p buffer_release_cb when" ] # [ doc = " the callback is invoked." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Pointer to store image handle in." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function creates a \\ref k4a_image_t from a pre-allocated buffer. When all references to this object reach zero" ] # [ doc = " the provided \\p buffer_release_cb callback function is called so that the memory can be released. If this function" ] # [ doc = " fails, the API will not use the memory provided in \\p buffer, and the API will not call \\p buffer_release_cb." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The \\ref k4a_image_t is created with a reference count of 1." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Release the reference on this function with k4a_image_release()." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " Returns #K4A_RESULT_SUCCEEDED on success. Errors are indicated with #K4A_RESULT_FAILED and error specific data can be" ] # [ doc = " found in the log." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_create_from_buffer ( format : k4a_image_format_t , width_pixels : :: std :: os :: raw :: c_int , height_pixels : :: std :: os :: raw :: c_int , stride_bytes : :: std :: os :: raw :: c_int , buffer : * mut u8 , buffer_size : usize , buffer_release_cb : k4a_memory_destroy_cb_t , buffer_release_cb_context : * mut :: std :: os :: raw :: c_void , image_handle : * mut k4a_image_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Get the image buffer." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this buffer to access the raw image data." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " The function will return NULL if there is an error, and will normally return a pointer to the image buffer." ] # [ doc = " Since all \\ref k4a_image_t instances are created with an image buffer, this function should only return NULL if the" ] # [ doc = " \\p image_handle is invalid." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_buffer ( image_handle : k4a_image_t ) -> * mut u8 ; } extern "C" { # [ doc = " Get the image buffer size." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this function to know what the size of the image buffer is returned by k4a_image_get_buffer()." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " The function will return 0 if there is an error, and will normally return the image size." ] # [ doc = " Since all \\ref k4a_image_t instances are created with an image buffer, this function should only return 0 if the" ] # [ doc = " \\p image_handle is invalid." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_size ( image_handle : k4a_image_t ) -> usize ; } extern "C" { # [ doc = " Get the format of the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this function to determine the format of the image buffer." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " This function is not expected to fail, all \\ref k4a_image_t's are created with a known format. If the" ] # [ doc = " \\p image_handle is invalid, the function will return ::K4A_IMAGE_FORMAT_CUSTOM." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_format ( image_handle : k4a_image_t ) -> k4a_image_format_t ; } extern "C" { # [ doc = " Get the image width in pixels." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " This function is not expected to fail, all \\ref k4a_image_t's are created with a known width. If the \\p" ] # [ doc = " image_handle is invalid, the function will return 0." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_width_pixels ( image_handle : k4a_image_t ) -> :: std :: os :: raw :: c_int ; } extern "C" { # [ doc = " Get the image height in pixels." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " This function is not expected to fail, all \\ref k4a_image_t's are created with a known height. If the \\p" ] # [ doc = " image_handle is invalid, the function will return 0." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_height_pixels ( image_handle : k4a_image_t ) -> :: std :: os :: raw :: c_int ; } extern "C" { # [ doc = " Get the image stride in bytes." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " This function is not expected to fail, all \\ref k4a_image_t's are created with a known stride. If the" ] # [ doc = " \\p image_handle is invalid, or the image's format does not have a stride, the function will return 0." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_stride_bytes ( image_handle : k4a_image_t ) -> :: std :: os :: raw :: c_int ; } extern "C" { # [ doc = " Get the image's device timestamp in microseconds." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Returns the device timestamp of the image. Timestamps are recorded by the device and represent the mid-point of" ] # [ doc = " exposure. They may be used for relative comparison, but their absolute value has no defined meaning." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " If the \\p image_handle is invalid or if no timestamp was set for the image," ] # [ doc = " this function will return 0. It is also possible for 0 to be a valid timestamp originating from the beginning" ] # [ doc = " of a recording or the start of streaming." ] # [ doc = "" ] # [ doc = " \\deprecated" ] # [ doc = " Deprecated starting in 1.2.0. Please use k4a_image_get_device_timestamp_usec()." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_timestamp_usec ( image_handle : k4a_image_t ) -> u64 ; } extern "C" { # [ doc = " Get the image's device timestamp in microseconds." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Returns the device timestamp of the image, as captured by the hardware. Timestamps are recorded by the device and" ] # [ doc = " represent the mid-point of exposure. They may be used for relative comparison, but their absolute value has no" ] # [ doc = " defined meaning." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " If the \\p image_handle is invalid or if no timestamp was set for the image, this function will return 0. It is also" ] # [ doc = " possible for 0 to be a valid timestamp originating from the beginning of a recording or the start of streaming." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_device_timestamp_usec ( image_handle : k4a_image_t ) -> u64 ; } extern "C" { # [ doc = " Get the image's system timestamp in nanoseconds." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Returns the system timestamp of the image. Timestamps are recorded by the host. They may be used for relative" ] # [ doc = " comparision, as they are relative to the corresponding system clock. The absolute value is a monotonic count from" ] # [ doc = " an arbitrary point in the past." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The system timestamp is captured at the moment host PC finishes receiving the image." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " On Linux the system timestamp is read from clock_gettime(CLOCK_MONOTONIC), which measures realtime and is not" ] # [ doc = " impacted by adjustments to the system clock. It starts from an arbitrary point in the past. On Windows the system" ] # [ doc = " timestamp is read from QueryPerformanceCounter(), it also measures realtime and is not impacted by adjustments to the" ] # [ doc = " system clock. It also starts from an arbitrary point in the past." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " If the \\p image_handle is invalid or if no timestamp was set for the image, this function will return 0. It is also" ] # [ doc = " possible for 0 to be a valid timestamp originating from the beginning of a recording or the start of streaming." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_system_timestamp_nsec ( image_handle : k4a_image_t ) -> u64 ; } extern "C" { # [ doc = " Get the image exposure in microseconds." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Returns an exposure time in microseconds. This is only supported on color image formats." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " If the \\p image_handle is invalid, or no exposure was set on the image, the function will return 0. Otherwise," ] # [ doc = " it will return the image exposure time in microseconds." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_exposure_usec ( image_handle : k4a_image_t ) -> u64 ; } extern "C" { # [ doc = " Get the image white balance." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Returns the image's white balance. This function is only valid for color captures, and not for depth or IR captures." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " Returns the image white balance in Kelvin. If \\p image_handle is invalid, or the white balance was not set or" ] # [ doc = " not applicable to the image, the function will return 0." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_white_balance ( image_handle : k4a_image_t ) -> u32 ; } extern "C" { # [ doc = " Get the image ISO speed." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function is only valid for color captures, and not for depth  or IR captures." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " Returns the ISO speed of the image. 0 indicates the ISO speed was not available or an error occurred." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_get_iso_speed ( image_handle : k4a_image_t ) -> u32 ; } extern "C" { # [ doc = " Set the device time stamp, in microseconds, of the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image to set the timestamp on." ] # [ doc = "" ] # [ doc = " \\param timestamp_usec" ] # [ doc = " Device timestamp of the image in microseconds." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a" ] # [ doc = " \\ref k4a_image_t." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The device timestamp represents the mid-point of exposure of the image, as captured by the hardware." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_set_device_timestamp_usec ( image_handle : k4a_image_t , timestamp_usec : u64 ) ; } extern "C" { # [ doc = " Set the device time stamp, in microseconds, of the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image to set the timestamp on." ] # [ doc = "" ] # [ doc = " \\param timestamp_usec" ] # [ doc = " Device timestamp of the image in microseconds." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a" ] # [ doc = " \\ref k4a_image_t." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The device timestamp represents the mid-point of exposure of the image, as captured by the hardware." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\deprecated" ] # [ doc = " Deprecated starting in 1.2.0. Please use k4a_image_set_device_timestamp_usec()." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_set_timestamp_usec ( image_handle : k4a_image_t , timestamp_usec : u64 ) ; } extern "C" { # [ doc = " Set the system time stamp, in nanoseconds, of the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image to set the timestamp on." ] # [ doc = "" ] # [ doc = " \\param timestamp_nsec" ] # [ doc = " Timestamp of the image in nanoseconds." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a" ] # [ doc = " \\ref k4a_image_t." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The system timestamp is a high performance and increasing clock (from boot). The timestamp represents the time" ] # [ doc = " immediately after the image buffer was read by the host PC." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_set_system_timestamp_nsec ( image_handle : k4a_image_t , timestamp_nsec : u64 ) ; } extern "C" { # [ doc = " Set the exposure time, in microseconds, of the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image to set the exposure time on." ] # [ doc = "" ] # [ doc = " \\param exposure_usec" ] # [ doc = " Exposure time of the image in microseconds." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a" ] # [ doc = " \\ref k4a_image_t. An exposure time of 0 is considered invalid. Only color image formats are expected to have a valid" ] # [ doc = " exposure time." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_set_exposure_usec ( image_handle : k4a_image_t , exposure_usec : u64 ) ; } extern "C" { # [ doc = " Set the exposure time, in microseconds, of the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image to set the exposure time on." ] # [ doc = "" ] # [ doc = " \\param exposure_usec" ] # [ doc = " Exposure time of the image in microseconds." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a" ] # [ doc = " \\ref k4a_image_t. An exposure time of 0 is considered invalid. Only color image formats are expected to have a valid" ] # [ doc = " exposure time." ] # [ doc = "" ] # [ doc = " \\deprecated" ] # [ doc = " Deprecated starting in 1.2.0. Please use k4a_image_set_exposure_usec()." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_set_exposure_time_usec ( image_handle : k4a_image_t , exposure_usec : u64 ) ; } extern "C" { # [ doc = " Set the white balance of the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image to set the white balance on." ] # [ doc = "" ] # [ doc = " \\param white_balance" ] # [ doc = " White balance of the image in degrees Kelvin." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a" ] # [ doc = " \\ref k4a_image_t. A white balance of 0 is considered invalid. White balance is only meaningful for color images," ] # [ doc = " and not expected on depth or IR images." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_set_white_balance ( image_handle : k4a_image_t , white_balance : u32 ) ; } extern "C" { # [ doc = " Set the ISO speed of the image." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image to set the ISO speed on." ] # [ doc = "" ] # [ doc = " \\param iso_speed" ] # [ doc = " ISO speed of the image." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a" ] # [ doc = " \\ref k4a_image_t. An ISO speed of 0 is considered invalid. Only color images are expected to have a valid ISO speed." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_set_iso_speed ( image_handle : k4a_image_t , iso_speed : u32 ) ; } extern "C" { # [ doc = " Add a reference to the k4a_image_t." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " References manage the lifetime of the object. When the references reach zero the object is destroyed. A caller must" ] # [ doc = " not access the object after its reference is released." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_reference ( image_handle : k4a_image_t ) ; } extern "C" { # [ doc = " Remove a reference from the k4a_image_t." ] # [ doc = "" ] # [ doc = " \\param image_handle" ] # [ doc = " Handle of the image for which the get operation is performed on." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " References manage the lifetime of the object. When the references reach zero the object is destroyed. A caller must" ] # [ doc = " not access the object after its reference is released." ] # [ doc = "" ] # [ doc = " \\relates k4a_image_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_image_release ( image_handle : k4a_image_t ) ; } extern "C" { # [ doc = " Starts color and depth camera capture." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param config" ] # [ doc = " The configuration we want to run the device in. This can be initialized with ::K4A_DEVICE_CONFIG_INIT_DISABLE_ALL." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED is returned on success." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Individual sensors configured to run will now start to stream captured data." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " It is not valid to call k4a_device_start_cameras() a second time on the same \\ref k4a_device_t until" ] # [ doc = " k4a_device_stop_cameras() has been called." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_start_cameras ( device_handle : k4a_device_t , config : * const k4a_device_configuration_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Stops the color and depth camera capture." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The streaming of individual sensors stops as a result of this call. Once called, k4a_device_start_cameras() may" ] # [ doc = " be called again to resume sensor streaming." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function may be called while another thread is blocking in k4a_device_get_capture()." ] # [ doc = " Calling this function while another thread is in that function will result in that function returning a failure." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_stop_cameras ( device_handle : k4a_device_t ) ; } extern "C" { # [ doc = " Starts the IMU sample stream." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED is returned on success. ::K4A_RESULT_FAILED if the sensor is already running or a failure is" ] # [ doc = " encountered" ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Call this API to start streaming IMU data. It is not valid to call this function a second time on the same" ] # [ doc = " \\ref k4a_device_t until k4a_device_stop_imu() has been called." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function is dependent on the state of the cameras. The color or depth camera must be started before the IMU." ] # [ doc = " ::K4A_RESULT_FAILED will be returned if one of the cameras is not running." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_start_imu ( device_handle : k4a_device_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Stops the IMU capture." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The streaming of the IMU stops as a result of this call. Once called, k4a_device_start_imu() may" ] # [ doc = " be called again to resume sensor streaming, so long as the cameras are running." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function may be called while another thread is blocking in k4a_device_get_imu_sample()." ] # [ doc = " Calling this function while another thread is in that function will result in that function returning a failure." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_stop_imu ( device_handle : k4a_device_t ) ; } extern "C" { # [ doc = " Get the Azure Kinect device serial number." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param serial_number" ] # [ doc = " Location to write the serial number to. If the function returns ::K4A_BUFFER_RESULT_SUCCEEDED, this will be a NULL" ] # [ doc = " terminated string of ASCII characters. If this input is NULL \\p serial_number_size will still be updated to return" ] # [ doc = " the size of the buffer needed to store the string." ] # [ doc = "" ] # [ doc = " \\param serial_number_size" ] # [ doc = " On input, the size of the \\p serial_number buffer if that pointer is not NULL. On output, this value is set to the" ] # [ doc = " actual number of bytes in the serial number (including the null terminator)." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " A return of ::K4A_BUFFER_RESULT_SUCCEEDED means that the \\p serial_number has been filled in. If the buffer is too" ] # [ doc = " small the function returns ::K4A_BUFFER_RESULT_TOO_SMALL and the size of the serial number is" ] # [ doc = " returned in the \\p serial_number_size parameter. All other failures return ::K4A_BUFFER_RESULT_FAILED." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Queries the device for its serial number. If the caller needs to know the size of the serial number to allocate" ] # [ doc = " memory, the function should be called once with a NULL \\p serial_number to get the needed size in the \\p" ] # [ doc = " serial_number_size output, and then again with the allocated buffer." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Only a complete serial number will be returned. If the caller's buffer is too small, the function will return" ] # [ doc = " ::K4A_BUFFER_RESULT_TOO_SMALL without returning any data in \\p serial_number." ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_get_serialnum ( device_handle : k4a_device_t , serial_number : * mut :: std :: os :: raw :: c_char , serial_number_size : * mut usize ) -> k4a_buffer_result_t ; } extern "C" { # [ doc = " Get the version numbers of the device's subsystems." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param version" ] # [ doc = " Location to write the version info to." ] # [ doc = "" ] # [ doc = " \\returns A return of ::K4A_RESULT_SUCCEEDED means that the version structure has been filled in." ] # [ doc = " All other failures return ::K4A_RESULT_FAILED." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_get_version ( device_handle : k4a_device_t , version : * mut k4a_hardware_version_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Get the Azure Kinect color sensor control capabilities." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param command" ] # [ doc = " Color sensor control command." ] # [ doc = "" ] # [ doc = " \\param supports_auto" ] # [ doc = " Location to store whether the color sensor's control support auto mode or not." ] # [ doc = " true if it supports auto mode, otherwise false." ] # [ doc = "" ] # [ doc = " \\param min_value" ] # [ doc = " Location to store the color sensor's control minimum value of /p command." ] # [ doc = "" ] # [ doc = " \\param max_value" ] # [ doc = " Location to store the color sensor's control maximum value of /p command." ] # [ doc = "" ] # [ doc = " \\param step_value" ] # [ doc = " Location to store the color sensor's control step value of /p command." ] # [ doc = "" ] # [ doc = " \\param default_value" ] # [ doc = " Location to store the color sensor's control default value of /p command." ] # [ doc = "" ] # [ doc = " \\param default_mode" ] # [ doc = " Location to store the color sensor's control default mode of /p command." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if the value was successfully returned, ::K4A_RESULT_FAILED if an error occurred" ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_get_color_control_capabilities ( device_handle : k4a_device_t , command : k4a_color_control_command_t , supports_auto : * mut bool , min_value : * mut i32 , max_value : * mut i32 , step_value : * mut i32 , default_value : * mut i32 , default_mode : * mut k4a_color_control_mode_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Get the Azure Kinect color sensor control" ] # [ doc = " value." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param command" ] # [ doc = " Color sensor control command." ] # [ doc = "" ] # [ doc = " \\param mode" ] # [ doc = " Location to store the color sensor's control mode. This mode represents whether the command is in automatic or" ] # [ doc = " manual mode." ] # [ doc = "" ] # [ doc = " \\param value" ] # [ doc = " Location to store the color sensor's control value. This value is always written, but is only valid when the \\p" ] # [ doc = " mode returned is ::K4A_COLOR_CONTROL_MODE_MANUAL for the current \\p command." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if the value was successfully returned, ::K4A_RESULT_FAILED if an error occurred" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Each control command may be set to manual or automatic. See the definition of \\ref k4a_color_control_command_t on" ] # [ doc = " how to interpret the \\p value for each command." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Some control commands are only supported in manual mode. When a command is in automatic mode, the \\p value for" ] # [ doc = " that command is not valid." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Control values set on a device are reset only when the device is power cycled. The device will retain the" ] # [ doc = " settings even if the \\ref k4a_device_t is closed or the application is restarted." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_get_color_control ( device_handle : k4a_device_t , command : k4a_color_control_command_t , mode : * mut k4a_color_control_mode_t , value : * mut i32 ) -> k4a_result_t ; } extern "C" { # [ doc = " Set the Azure Kinect color sensor control value." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param command" ] # [ doc = " Color sensor control command." ] # [ doc = "" ] # [ doc = " \\param mode" ] # [ doc = " Color sensor control mode to set. This mode represents whether the command is in automatic or manual mode." ] # [ doc = "" ] # [ doc = " \\param value" ] # [ doc = " Value to set the color sensor's control to. The value is only valid if \\p mode" ] # [ doc = " is set to ::K4A_COLOR_CONTROL_MODE_MANUAL, and is otherwise ignored." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if the value was successfully set, ::K4A_RESULT_FAILED if an error occurred" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Each control command may be set to manual or automatic. See the definition of \\ref k4a_color_control_command_t on how" ] # [ doc = " to interpret the \\p value for each command." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Some control commands are only supported in manual mode. When a command is in automatic mode, the \\p value for that" ] # [ doc = " command is not valid." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Control values set on a device are reset only when the device is power cycled. The device will retain the settings" ] # [ doc = " even if the \\ref k4a_device_t is closed or the application is restarted." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_set_color_control ( device_handle : k4a_device_t , command : k4a_color_control_command_t , mode : k4a_color_control_mode_t , value : i32 ) -> k4a_result_t ; } extern "C" { # [ doc = " Get the raw calibration blob for the entire Azure Kinect device." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param data" ] # [ doc = " Location to write the calibration data to. This field may optionally be set to NULL for the caller to query for" ] # [ doc = " the needed data size." ] # [ doc = "" ] # [ doc = " \\param data_size" ] # [ doc = " On passing \\p data_size into the function this variable represents the available size of the \\p data" ] # [ doc = " buffer. On return this variable is updated with the amount of data actually written to the buffer, or the size" ] # [ doc = " required to store the calibration buffer if \\p data is NULL." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_BUFFER_RESULT_SUCCEEDED if \\p data was successfully written. If \\p data_size points to a buffer size that is" ] # [ doc = " too small to hold the output or \\p data is NULL, ::K4A_BUFFER_RESULT_TOO_SMALL is returned and \\p data_size is" ] # [ doc = " updated to contain the minimum buffer size needed to capture the calibration data." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_get_raw_calibration ( device_handle : k4a_device_t , data : * mut u8 , data_size : * mut usize ) -> k4a_buffer_result_t ; } extern "C" { # [ doc = " Get the camera calibration for the entire Azure Kinect device." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param depth_mode" ] # [ doc = " Mode in which depth camera is operated." ] # [ doc = "" ] # [ doc = " \\param color_resolution" ] # [ doc = " Resolution in which color camera is operated." ] # [ doc = "" ] # [ doc = " \\param calibration" ] # [ doc = " Location to write the calibration" ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p calibration was successfully written. ::K4A_RESULT_FAILED otherwise." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The \\p calibration represents the data needed to transform between the camera views and may be" ] # [ doc = " different for each operating \\p depth_mode and \\p color_resolution the device is configured to operate in." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The \\p calibration output is used as input to all calibration and transformation functions." ] # [ doc = "" ] # [ doc = " \\see k4a_calibration_2d_to_2d()" ] # [ doc = " \\see k4a_calibration_2d_to_3d()" ] # [ doc = " \\see k4a_calibration_3d_to_2d()" ] # [ doc = " \\see k4a_calibration_3d_to_3d()" ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_get_calibration ( device_handle : k4a_device_t , depth_mode : k4a_depth_mode_t , color_resolution : k4a_color_resolution_t , calibration : * mut k4a_calibration_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Get the device jack status for the synchronization in and synchronization out connectors." ] # [ doc = "" ] # [ doc = " \\param device_handle" ] # [ doc = " Handle obtained by k4a_device_open()." ] # [ doc = "" ] # [ doc = " \\param sync_in_jack_connected" ] # [ doc = " Upon successful return this value will be set to true if a cable is connected to this sync in jack." ] # [ doc = "" ] # [ doc = " \\param sync_out_jack_connected" ] # [ doc = " Upon successful return this value will be set to true if a cable is connected to this sync out jack." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if the connector status was successfully read." ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If \\p sync_out_jack_connected is true then \\ref k4a_device_configuration_t wired_sync_mode mode can be set to \\ref" ] # [ doc = " K4A_WIRED_SYNC_MODE_STANDALONE or \\ref K4A_WIRED_SYNC_MODE_MASTER. If \\p sync_in_jack_connected is true then \\ref" ] # [ doc = " k4a_device_configuration_t wired_sync_mode mode can be set to \\ref K4A_WIRED_SYNC_MODE_STANDALONE or \\ref" ] # [ doc = " K4A_WIRED_SYNC_MODE_SUBORDINATE." ] # [ doc = "" ] # [ doc = " \\see k4a_device_start_cameras()" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_device_get_sync_jack ( device_handle : k4a_device_t , sync_in_jack_connected : * mut bool , sync_out_jack_connected : * mut bool ) -> k4a_result_t ; } extern "C" { # [ doc = " Get the camera calibration for a device from a raw calibration blob." ] # [ doc = "" ] # [ doc = " \\param raw_calibration" ] # [ doc = " Raw calibration blob obtained from a device or recording. The raw calibration must be NULL terminated." ] # [ doc = "" ] # [ doc = " \\param raw_calibration_size" ] # [ doc = " The size, in bytes, of raw_calibration including the NULL termination." ] # [ doc = "" ] # [ doc = " \\param depth_mode" ] # [ doc = " Mode in which depth camera is operated." ] # [ doc = "" ] # [ doc = " \\param color_resolution" ] # [ doc = " Resolution in which color camera is operated." ] # [ doc = "" ] # [ doc = " \\param calibration" ] # [ doc = " Location to write the calibration." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p calibration was successfully written. ::K4A_RESULT_FAILED otherwise." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The \\p calibration represents the data needed to transform between the camera views and is" ] # [ doc = " different for each operating \\p depth_mode and \\p color_resolution the device is configured to operate in." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The \\p calibration output is used as input to all transformation functions." ] # [ doc = "" ] # [ doc = " \\see k4a_calibration_2d_to_2d()" ] # [ doc = " \\see k4a_calibration_2d_to_3d()" ] # [ doc = " \\see k4a_calibration_3d_to_2d()" ] # [ doc = " \\see k4a_calibration_3d_to_3d()" ] # [ doc = "" ] # [ doc = " \\relates k4a_device_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_calibration_get_from_raw ( raw_calibration : * mut :: std :: os :: raw :: c_char , raw_calibration_size : usize , depth_mode : k4a_depth_mode_t , color_resolution : k4a_color_resolution_t , calibration : * mut k4a_calibration_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Transform a 3D point of a source coordinate system into a 3D point of the target coordinate system" ] # [ doc = "" ] # [ doc = " \\param calibration" ] # [ doc = " Location to read the camera calibration data." ] # [ doc = "" ] # [ doc = " \\param source_point3d_mm" ] # [ doc = " The 3D coordinates in millimeters representing a point in \\p source_camera." ] # [ doc = "" ] # [ doc = " \\param source_camera" ] # [ doc = " The current camera." ] # [ doc = "" ] # [ doc = " \\param target_camera" ] # [ doc = " The target camera." ] # [ doc = "" ] # [ doc = " \\param target_point3d_mm" ] # [ doc = " Pointer to the output where the new 3D coordinates of the input point in the coordinate space of \\p target_camera is" ] # [ doc = " stored in millimeters." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p target_point3d_mm was successfully written. ::K4A_RESULT_FAILED if \\p calibration" ] # [ doc = " contained invalid transformation parameters." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function is used to transform 3D points between depth and color camera coordinate systems. The function uses the" ] # [ doc = " extrinsic camera calibration. It computes the output via multiplication with a precomputed matrix encoding a 3D" ] # [ doc = " rotation and a 3D translation. If \\p source_camera and \\p target_camera are the same, then \\p target_point3d_mm will" ] # [ doc = " be identical to \\p source_point3d_mm." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_calibration_3d_to_3d ( calibration : * const k4a_calibration_t , source_point3d_mm : * const k4a_float3_t , source_camera : k4a_calibration_type_t , target_camera : k4a_calibration_type_t , target_point3d_mm : * mut k4a_float3_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Transform a 2D pixel coordinate with an associated depth value of the source camera into a 3D point of the target" ] # [ doc = " coordinate system." ] # [ doc = "" ] # [ doc = " \\param calibration" ] # [ doc = " Location to read the camera calibration obtained by k4a_device_get_calibration()." ] # [ doc = "" ] # [ doc = " \\param source_point2d" ] # [ doc = " The 2D pixel in \\p source_camera coordinates." ] # [ doc = "" ] # [ doc = " \\param source_depth_mm" ] # [ doc = " The depth of \\p source_point2d in millimeters. One way to derive the depth value in the color camera geometry is to" ] # [ doc = " use the function k4a_transformation_depth_image_to_color_camera()." ] # [ doc = "" ] # [ doc = " \\param source_camera" ] # [ doc = " The current camera." ] # [ doc = "" ] # [ doc = " \\param target_camera" ] # [ doc = " The target camera." ] # [ doc = "" ] # [ doc = " \\param target_point3d_mm" ] # [ doc = " Pointer to the output where the 3D coordinates of the input pixel in the coordinate system of \\p target_camera is" ] # [ doc = " stored in millimeters." ] # [ doc = "" ] # [ doc = " \\param valid" ] # [ doc = " The output parameter returns a value of 1 if the \\p source_point2d is a valid coordinate, and will return 0 if" ] # [ doc = " the coordinate is not valid in the calibration model." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p target_point3d_mm was successfully written. ::K4A_RESULT_FAILED if \\p calibration" ] # [ doc = " contained invalid transformation parameters. If the function returns ::K4A_RESULT_SUCCEEDED, but \\p valid is 0," ] # [ doc = " the transformation was computed, but the results in \\p target_point3d_mm are outside of the range of valid" ] # [ doc = " calibration and should be ignored." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function applies the intrinsic calibration of \\p source_camera to compute the 3D ray from the focal point of the" ] # [ doc = " camera through pixel \\p source_point2d. The 3D point on this ray is then found using \\p source_depth_mm. If \\p" ] # [ doc = " target_camera is different from \\p source_camera, the 3D point is transformed to \\p target_camera using" ] # [ doc = " k4a_calibration_3d_to_3d(). In practice, \\p source_camera and \\p target_camera will often be identical. In this" ] # [ doc = " case, no 3D to 3D transformation is applied." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If \\p source_point2d is not considered as valid pixel coordinate" ] # [ doc = " according to the intrinsic camera model, \\p valid is set to 0. If it is valid, \\p valid will be set to 1. The user" ] # [ doc = " should not use the value of \\p target_point3d_mm if \\p valid was set to 0." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_calibration_2d_to_3d ( calibration : * const k4a_calibration_t , source_point2d : * const k4a_float2_t , source_depth_mm : f32 , source_camera : k4a_calibration_type_t , target_camera : k4a_calibration_type_t , target_point3d_mm : * mut k4a_float3_t , valid : * mut :: std :: os :: raw :: c_int ) -> k4a_result_t ; } extern "C" { # [ doc = " Transform a 3D point of a source coordinate system into a 2D pixel coordinate of the target camera." ] # [ doc = "" ] # [ doc = " \\param calibration" ] # [ doc = " Location to read the camera calibration obtained by k4a_device_get_calibration()." ] # [ doc = "" ] # [ doc = " \\param source_point3d_mm" ] # [ doc = " The 3D coordinates in millimeters representing a point in \\p source_camera" ] # [ doc = "" ] # [ doc = " \\param source_camera" ] # [ doc = " The current camera." ] # [ doc = "" ] # [ doc = " \\param target_camera" ] # [ doc = " The target camera." ] # [ doc = "" ] # [ doc = " \\param target_point2d" ] # [ doc = " Pointer to the output where the 2D pixel in \\p target_camera coordinates is stored." ] # [ doc = "" ] # [ doc = " \\param valid" ] # [ doc = " The output parameter returns a value of 1 if the \\p source_point3d_mm is a valid coordinate in the \\p target_camera" ] # [ doc = " coordinate system, and will return 0 if the coordinate is not valid in the calibration model." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p target_point2d was successfully written. ::K4A_RESULT_FAILED if \\p calibration" ] # [ doc = " contained invalid transformation parameters. If the function returns ::K4A_RESULT_SUCCEEDED, but \\p valid is 0," ] # [ doc = " the transformation was computed, but the results in \\p target_point2d are outside of the range of valid calibration" ] # [ doc = " and should be ignored." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If \\p target_camera is different from \\p source_camera, \\p source_point3d_mm is transformed to \\p target_camera using" ] # [ doc = " k4a_calibration_3d_to_3d(). In practice, \\p source_camera and \\p target_camera will often be identical. In this" ] # [ doc = " case, no 3D to 3D transformation is applied. The 3D point in the coordinate system of \\p target_camera is then" ] # [ doc = " projected onto the image plane using the intrinsic calibration of \\p target_camera." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If \\p source_point3d_mm does not map to a valid 2D coordinate in the \\p target_camera coordinate system, \\p valid is" ] # [ doc = " set to 0. If it is valid, \\p valid will be set to 1. The user should not use the value of \\p target_point2d if \\p" ] # [ doc = " valid was set to 0." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_calibration_3d_to_2d ( calibration : * const k4a_calibration_t , source_point3d_mm : * const k4a_float3_t , source_camera : k4a_calibration_type_t , target_camera : k4a_calibration_type_t , target_point2d : * mut k4a_float2_t , valid : * mut :: std :: os :: raw :: c_int ) -> k4a_result_t ; } extern "C" { # [ doc = " Transform a 2D pixel coordinate with an associated depth value of the source camera into a 2D pixel coordinate of" ] # [ doc = " the target camera." ] # [ doc = "" ] # [ doc = " \\param calibration" ] # [ doc = " Location to read the camera calibration obtained by k4a_device_get_calibration()." ] # [ doc = "" ] # [ doc = " \\param source_point2d" ] # [ doc = " The 2D pixel in \\p source_camera coordinates." ] # [ doc = "" ] # [ doc = " \\param source_depth_mm" ] # [ doc = " The depth of \\p source_point2d in millimeters. One way to derive the depth value in the color camera geometry is to" ] # [ doc = " use the function k4a_transformation_depth_image_to_color_camera()." ] # [ doc = "" ] # [ doc = " \\param source_camera" ] # [ doc = " The current camera." ] # [ doc = "" ] # [ doc = " \\param target_camera" ] # [ doc = " The target camera." ] # [ doc = "" ] # [ doc = " \\param target_point2d" ] # [ doc = " The 2D pixel in \\p target_camera coordinates." ] # [ doc = "" ] # [ doc = " \\param valid" ] # [ doc = " The output parameter returns a value of 1 if the \\p source_point2d is a valid coordinate in the \\p target_camera" ] # [ doc = " coordinate system, and will return 0 if the coordinate is not valid in the calibration model." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p target_point2d was successfully written. ::K4A_RESULT_FAILED if \\p calibration" ] # [ doc = " contained invalid transformation parameters. If the function returns ::K4A_RESULT_SUCCEEDED, but \\p valid is 0," ] # [ doc = " the transformation was computed, but the results in \\p target_point2d are outside of the range of valid calibration" ] # [ doc = " and should be ignored." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function maps a pixel between the coordinate systems of the depth and color cameras. It is equivalent to calling" ] # [ doc = " k4a_calibration_2d_to_3d() to compute the 3D point corresponding to \\p source_point2d and then using" ] # [ doc = " k4a_calibration_3d_to_2d() to map the 3D point into the coordinate system of the \\p target_camera." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If \\p source_camera and \\p target_camera are identical, the function immediately sets \\p target_point2d to \\p" ] # [ doc = " source_point2d and returns without computing any transformations." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If \\p source_point2d does not map to a valid 2D coordinate in the \\p target_camera coordinate system, \\p valid is set" ] # [ doc = " to 0. If it is valid, \\p valid will be set to 1. The user should not use the value of \\p target_point2d if \\p valid" ] # [ doc = " was set to 0." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_calibration_2d_to_2d ( calibration : * const k4a_calibration_t , source_point2d : * const k4a_float2_t , source_depth_mm : f32 , source_camera : k4a_calibration_type_t , target_camera : k4a_calibration_type_t , target_point2d : * mut k4a_float2_t , valid : * mut :: std :: os :: raw :: c_int ) -> k4a_result_t ; } extern "C" { # [ doc = " Transform a 2D pixel coordinate from color camera into a 2D pixel coordinate of" ] # [ doc = " the depth camera." ] # [ doc = "" ] # [ doc = " \\param calibration" ] # [ doc = " Location to read the camera calibration obtained by k4a_device_get_calibration()." ] # [ doc = "" ] # [ doc = " \\param source_point2d" ] # [ doc = " The 2D pixel in \\p color camera coordinates." ] # [ doc = "" ] # [ doc = " \\param depth_image" ] # [ doc = " Handle to input depth image." ] # [ doc = "" ] # [ doc = " \\param target_point2d" ] # [ doc = " The 2D pixel in \\p depth camera coordinates." ] # [ doc = "" ] # [ doc = " \\param valid" ] # [ doc = " The output parameter returns a value of 1 if the \\p source_point2d is a valid coordinate in the \\p target_camera" ] # [ doc = " coordinate system, and will return 0 if the coordinate is not valid in the calibration model." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p target_point2d was successfully written. ::K4A_RESULT_FAILED if \\p calibration" ] # [ doc = " contained invalid transformation parameters. If the function returns ::K4A_RESULT_SUCCEEDED, but \\p valid is 0," ] # [ doc = " the transformation was computed, but the results in \\p target_point2d are outside of the range of valid calibration" ] # [ doc = " and should be ignored." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This function represents an alternative to k4a_calibration_2d_to_2d() if the number of pixels that need to be" ] # [ doc = " transformed is small. This function searches along an epipolar line in the depth image to find the corresponding" ] # [ doc = " depth pixel. If a larger number of pixels need to be transformed, it might be computationally cheaper to call" ] # [ doc = " k4a_transformation_depth_image_to_color_camera() to get correspondence depth values for these color pixels, then call" ] # [ doc = " the function k4a_calibration_2d_to_2d()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " If \\p source_point2d does not map to a valid 2D coordinate in the \\p target_camera coordinate system, \\p valid is set" ] # [ doc = " to 0. If it is valid, \\p valid will be set to 1. The user should not use the value of \\p target_point2d if \\p valid" ] # [ doc = " was set to 0." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_calibration_color_2d_to_depth_2d ( calibration : * const k4a_calibration_t , source_point2d : * const k4a_float2_t , depth_image : k4a_image_t , target_point2d : * mut k4a_float2_t , valid : * mut :: std :: os :: raw :: c_int ) -> k4a_result_t ; } extern "C" { # [ doc = " Get handle to transformation handle." ] # [ doc = "" ] # [ doc = " \\param calibration" ] # [ doc = " A calibration structure obtained by k4a_device_get_calibration()." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " A transformation handle. A NULL is returned if creation fails." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The transformation handle is used to transform images from the coordinate system of one camera into the other. Each" ] # [ doc = " transformation handle requires some pre-computed resources to be allocated, which are retained until the handle is" ] # [ doc = " destroyed." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The transformation handle must be destroyed with k4a_transformation_destroy() when it is no longer to be used." ] # [ doc = "" ] # [ doc = " \\relates k4a_calibration_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_transformation_create ( calibration : * const k4a_calibration_t ) -> k4a_transformation_t ; } extern "C" { # [ doc = " Destroy transformation handle." ] # [ doc = "" ] # [ doc = " \\param transformation_handle" ] # [ doc = " Transformation handle to destroy." ] # [ doc = "" ] # [ doc = " \\relates k4a_transformation_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_transformation_destroy ( transformation_handle : k4a_transformation_t ) ; } extern "C" { # [ doc = " Transforms the depth map into the geometry of the color camera." ] # [ doc = "" ] # [ doc = " \\param transformation_handle" ] # [ doc = " Transformation handle." ] # [ doc = "" ] # [ doc = " \\param depth_image" ] # [ doc = " Handle to input depth image." ] # [ doc = "" ] # [ doc = " \\param transformed_depth_image" ] # [ doc = " Handle to output transformed depth image." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This produces a depth image for which each pixel matches the corresponding pixel coordinates of the color camera." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p depth_image and \\p transformed_depth_image must be of format ::K4A_IMAGE_FORMAT_DEPTH16." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p transformed_depth_image must have a width and height matching the width and height of the color camera in the mode" ] # [ doc = " specified by the \\ref k4a_calibration_t used to create the \\p transformation_handle with k4a_transformation_create()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The contents \\p transformed_depth_image will be filled with the depth values derived from \\p depth_image in the color" ] # [ doc = " camera's coordinate space." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p transformed_depth_image should be created by the caller using k4a_image_create() or" ] # [ doc = " k4a_image_create_from_buffer()." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p transformed_depth_image was successfully written and ::K4A_RESULT_FAILED otherwise." ] # [ doc = "" ] # [ doc = " \\relates k4a_transformation_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_transformation_depth_image_to_color_camera ( transformation_handle : k4a_transformation_t , depth_image : k4a_image_t , transformed_depth_image : k4a_image_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Transforms depth map and a custom image into the geometry of the color camera." ] # [ doc = "" ] # [ doc = " \\param transformation_handle" ] # [ doc = " Transformation handle." ] # [ doc = "" ] # [ doc = " \\param depth_image" ] # [ doc = " Handle to input depth image." ] # [ doc = "" ] # [ doc = " \\param custom_image" ] # [ doc = " Handle to input custom image." ] # [ doc = "" ] # [ doc = " \\param transformed_depth_image" ] # [ doc = " Handle to output transformed depth image." ] # [ doc = "" ] # [ doc = " \\param transformed_custom_image" ] # [ doc = " Handle to output transformed custom image." ] # [ doc = "" ] # [ doc = " \\param interpolation_type" ] # [ doc = " Parameter that controls how pixels in \\p custom_image should be interpolated when transformed to color camera space." ] # [ doc = " K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR if linear interpolation should be used." ] # [ doc = " K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST if nearest neighbor interpolation should be used." ] # [ doc = "" ] # [ doc = " \\param invalid_custom_value" ] # [ doc = " Defines the custom image pixel value that should be written to \\p transformed_custom_image in case the corresponding" ] # [ doc = " depth pixel can not be transformed into the color camera space." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This produces a depth image and a corresponding custom image for which each pixel matches the corresponding" ] # [ doc = " pixel coordinates of the color camera." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p depth_image and \\p transformed_depth_image must be of format ::K4A_IMAGE_FORMAT_DEPTH16." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p custom_image and \\p transformed_custom_image must be of format ::K4A_IMAGE_FORMAT_CUSTOM8 or" ] # [ doc = " ::K4A_IMAGE_FORMAT_CUSTOM16." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p transformed_depth_image and \\p transformed_custom_image must have a width and height matching the width and" ] # [ doc = " height of the color camera in the mode specified by the \\ref k4a_calibration_t used to create the" ] # [ doc = " \\p transformation_handle with k4a_transformation_create()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p custom_image must have a width and height matching the width and height of \\p depth_image." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The contents \\p transformed_depth_image will be filled with the depth values derived from \\p depth_image in the color" ] # [ doc = " camera's coordinate space." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The contents \\p transformed_custom_image will be filled with the values derived from \\p custom_image in the color" ] # [ doc = " camera's coordinate space." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p transformed_depth_image and \\p transformed_custom_image should be created by the caller using k4a_image_create()" ] # [ doc = " or k4a_image_create_from_buffer()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Using linear interpolation could create new values to \\p transformed_custom_image which do no exist in \\p" ] # [ doc = " custom_image. Setting \\p use_linear_interpolation to false will prevent this from happenning but will result in less" ] # [ doc = " smooth image." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p transformed_depth_image and \\p transformed_custom_image were successfully written and" ] # [ doc = " ::K4A_RESULT_FAILED otherwise." ] # [ doc = "" ] # [ doc = " \\relates k4a_transformation_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_transformation_depth_image_to_color_camera_custom ( transformation_handle : k4a_transformation_t , depth_image : k4a_image_t , custom_image : k4a_image_t , transformed_depth_image : k4a_image_t , transformed_custom_image : k4a_image_t , interpolation_type : k4a_transformation_interpolation_type_t , invalid_custom_value : u32 ) -> k4a_result_t ; } extern "C" { # [ doc = " Transforms a color image into the geometry of the depth camera." ] # [ doc = "" ] # [ doc = " \\param transformation_handle" ] # [ doc = " Transformation handle." ] # [ doc = "" ] # [ doc = " \\param depth_image" ] # [ doc = " Handle to input depth image." ] # [ doc = "" ] # [ doc = " \\param color_image" ] # [ doc = " Handle to input color image." ] # [ doc = "" ] # [ doc = " \\param transformed_color_image" ] # [ doc = " Handle to output transformed color image." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " This produces a color image for which each pixel matches the corresponding pixel coordinates of the depth camera." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p depth_image and \\p color_image need to represent the same moment in time. The depth data will be applied to the" ] # [ doc = " color image to properly warp the color data to the perspective of the depth camera." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p depth_image must be of type ::K4A_IMAGE_FORMAT_DEPTH16. \\p color_image must be of format" ] # [ doc = " ::K4A_IMAGE_FORMAT_COLOR_BGRA32." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p transformed_color_image image must be of format ::K4A_IMAGE_FORMAT_COLOR_BGRA32. \\p transformed_color_image must" ] # [ doc = " have the width and height of the depth camera in the mode specified by the \\ref k4a_calibration_t used to create" ] # [ doc = " the \\p transformation_handle with k4a_transformation_create()." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p transformed_color_image should be created by the caller using k4a_image_create() or" ] # [ doc = " k4a_image_create_from_buffer()." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p transformed_color_image was successfully written and ::K4A_RESULT_FAILED otherwise." ] # [ doc = "" ] # [ doc = " \\relates k4a_transformation_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_transformation_color_image_to_depth_camera ( transformation_handle : k4a_transformation_t , depth_image : k4a_image_t , color_image : k4a_image_t , transformed_color_image : k4a_image_t ) -> k4a_result_t ; } extern "C" { # [ doc = " Transforms the depth image into 3 planar images representing X, Y and Z-coordinates of corresponding 3D points." ] # [ doc = "" ] # [ doc = " \\param transformation_handle" ] # [ doc = " Transformation handle." ] # [ doc = "" ] # [ doc = " \\param depth_image" ] # [ doc = " Handle to input depth image." ] # [ doc = "" ] # [ doc = " \\param camera" ] # [ doc = " Geometry in which depth map was computed." ] # [ doc = "" ] # [ doc = " \\param xyz_image" ] # [ doc = " Handle to output xyz image." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p depth_image must be of format ::K4A_IMAGE_FORMAT_DEPTH16." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The \\p camera parameter tells the function what the perspective of the \\p depth_image is. If the \\p depth_image was" ] # [ doc = " captured directly from the depth camera, the value should be ::K4A_CALIBRATION_TYPE_DEPTH. If the \\p depth_image is" ] # [ doc = " the result of a transformation into the color camera's coordinate space using" ] # [ doc = " k4a_transformation_depth_image_to_color_camera(), the value should be ::K4A_CALIBRATION_TYPE_COLOR." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " The format of \\p xyz_image must be ::K4A_IMAGE_FORMAT_CUSTOM. The width and height of \\p xyz_image must match the" ] # [ doc = " width and height of \\p depth_image. \\p xyz_image must have a stride in bytes of at least 6 times its width in pixels." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " Each pixel of the \\p xyz_image consists of three int16_t values, totaling 6 bytes. The three int16_t values are the" ] # [ doc = " X, Y, and Z values of the point." ] # [ doc = "" ] # [ doc = " \\remarks" ] # [ doc = " \\p xyz_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer()." ] # [ doc = "" ] # [ doc = " \\returns" ] # [ doc = " ::K4A_RESULT_SUCCEEDED if \\p xyz_image was successfully written and ::K4A_RESULT_FAILED otherwise." ] # [ doc = "" ] # [ doc = " \\relates k4a_transformation_t" ] # [ doc = "" ] # [ doc = " \\xmlonly" ] # [ doc = " <requirements>" ] # [ doc = "   <requirement name=\"Header\">k4a.h (include k4a/k4a.h)</requirement>" ] # [ doc = "   <requirement name=\"Library\">k4a.lib</requirement>" ] # [ doc = "   <requirement name=\"DLL\">k4a.dll</requirement>" ] # [ doc = " </requirements>" ] # [ doc = " \\endxmlonly" ] pub fn k4a_transformation_depth_image_to_point_cloud ( transformation_handle : k4a_transformation_t , depth_image : k4a_image_t , camera : k4a_calibration_type_t , xyz_image : k4a_image_t ) -> k4a_result_t ; }