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#![allow(unused)]
use k4a_sys_temp as k4a_sys;
#[derive(Clone)]
pub struct Calibration(pub k4a_sys::k4a_calibration_t);
impl Calibration {
pub fn default() -> Self {
let extrinsics = k4a_sys::_k4a_calibration_extrinsics_t {
rotation: [0.0f32, 0.0f32, 0.0f32, 0.0f32, 0.0f32, 0.0f32, 0.0f32, 0.0f32, 0.0f32],
translation: [0.0f32, 0.0f32, 0.0f32],
};
let extrinsics_4 = [
extrinsics.clone(),
extrinsics.clone(),
extrinsics.clone(),
extrinsics.clone(),
];
let extrinsics_4_4 = [
extrinsics_4.clone(),
extrinsics_4.clone(),
extrinsics_4.clone(),
extrinsics_4.clone(),
];
let camera_calibration = k4a_sys::_k4a_calibration_camera_t {
resolution_width: 0,
resolution_height: 0,
metric_radius: 0.0f32,
extrinsics: extrinsics.clone(),
intrinsics: k4a_sys::_k4a_calibration_intrinsics_t {
type_: 0,
parameter_count: 0,
parameters: k4a_sys::k4a_calibration_intrinsic_parameters_t {
param: k4a_sys::k4a_calibration_intrinsic_parameters_t__param {
cx: 0.0f32,
cy: 0.0f32,
fx: 0.0f32,
fy: 0.0f32,
k1: 0.0f32,
k2: 0.0f32,
k3: 0.0f32,
k4: 0.0f32,
k5: 0.0f32,
k6: 0.0f32,
codx: 0.0f32,
cody: 0.0f32,
p2: 0.0f32,
p1: 0.0f32,
metric_radius: 0.0f32,
},
},
},
};
Self(k4a_sys::k4a_calibration_t {
color_camera_calibration: camera_calibration.clone(),
depth_camera_calibration: camera_calibration.clone(),
color_resolution: 0,
depth_mode: 0,
extrinsics: extrinsics_4_4,
})
}
pub fn color_camera_resolution_width(&self) -> i32 {
self.0.color_camera_calibration.resolution_width
}
pub fn color_camera_resolution_height(&self) -> i32 {
self.0.color_camera_calibration.resolution_height
}
pub fn depth_camera_resolution_width(&self) -> i32 {
self.0.depth_camera_calibration.resolution_width
}
pub fn depth_camera_resolution_height(&self) -> i32 {
self.0.depth_camera_calibration.resolution_height
}
pub fn debug_print(&self) {
println!("===== CALIBRATION =====");
println!("\t Color resolution: {}", self.0.color_resolution);
println!("\t Depth mode: {}", self.0.depth_mode);
println!("\t Extrinsics: {:?}", self.0.extrinsics);
println!("\t depth.resolution_width: {}", self.0.depth_camera_calibration.resolution_width);
println!("\t depth.resolution_height: {}", self.0.depth_camera_calibration.resolution_height);
println!("\t depth.metric_radius: {}", self.0.depth_camera_calibration.metric_radius);
println!("\t depth.extrinsics: {:?}", self.0.depth_camera_calibration.extrinsics);
println!("\t depth.intrinsics.type: {}", self.0.depth_camera_calibration.intrinsics.type_);
println!("\t depth.intrinsics.parameter_count: {}", self.0.depth_camera_calibration.intrinsics.parameter_count);
unsafe {
println!("\t depth.intrinsics.parameters.param.cx: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.cx);
println!("\t depth.intrinsics.parameters.param.cy: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.cy);
println!("\t depth.intrinsics.parameters.param.fx: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.fx);
println!("\t depth.intrinsics.parameters.param.fy: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.fy);
println!("\t depth.intrinsics.parameters.param.k1: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.k1);
println!("\t depth.intrinsics.parameters.param.k2: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.k2);
println!("\t depth.intrinsics.parameters.param.k3: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.k3);
println!("\t depth.intrinsics.parameters.param.k4: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.k4);
println!("\t depth.intrinsics.parameters.param.k5: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.k5);
println!("\t depth.intrinsics.parameters.param.k6: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.k6);
println!("\t depth.intrinsics.parameters.param.codx: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.codx);
println!("\t depth.intrinsics.parameters.param.cody: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.cody);
println!("\t depth.intrinsics.parameters.param.p2: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.p2);
println!("\t depth.intrinsics.parameters.param.p1: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.p1);
println!("\t depth.intrinsics.parameters.param.metric_radius: {}", self.0.depth_camera_calibration.intrinsics.parameters.param.metric_radius);
}
println!("\t color.resolution_width: {}", self.0.color_camera_calibration.resolution_width);
println!("\t color.resolution_height: {}", self.0.color_camera_calibration.resolution_height);
println!("\t color.metric_radius: {}", self.0.color_camera_calibration.metric_radius);
println!("\t color.extrinsics: {:?}", self.0.color_camera_calibration.extrinsics);
println!("\t color.intrinsics.type: {}", self.0.color_camera_calibration.intrinsics.type_);
println!("\t color.intrinsics.parameter_count: {}", self.0.color_camera_calibration.intrinsics.parameter_count);
unsafe {
println!("\t color.intrinsics.parameters.param.cx: {}", self.0.color_camera_calibration.intrinsics.parameters.param.cx);
println!("\t color.intrinsics.parameters.param.cy: {}", self.0.color_camera_calibration.intrinsics.parameters.param.cy);
println!("\t color.intrinsics.parameters.param.fx: {}", self.0.color_camera_calibration.intrinsics.parameters.param.fx);
println!("\t color.intrinsics.parameters.param.fy: {}", self.0.color_camera_calibration.intrinsics.parameters.param.fy);
println!("\t color.intrinsics.parameters.param.k1: {}", self.0.color_camera_calibration.intrinsics.parameters.param.k1);
println!("\t color.intrinsics.parameters.param.k2: {}", self.0.color_camera_calibration.intrinsics.parameters.param.k2);
println!("\t color.intrinsics.parameters.param.k3: {}", self.0.color_camera_calibration.intrinsics.parameters.param.k3);
println!("\t color.intrinsics.parameters.param.k4: {}", self.0.color_camera_calibration.intrinsics.parameters.param.k4);
println!("\t color.intrinsics.parameters.param.k5: {}", self.0.color_camera_calibration.intrinsics.parameters.param.k5);
println!("\t color.intrinsics.parameters.param.k6: {}", self.0.color_camera_calibration.intrinsics.parameters.param.k6);
println!("\t color.intrinsics.parameters.param.codx: {}", self.0.color_camera_calibration.intrinsics.parameters.param.codx);
println!("\t color.intrinsics.parameters.param.cody: {}", self.0.color_camera_calibration.intrinsics.parameters.param.cody);
println!("\t color.intrinsics.parameters.param.p2: {}", self.0.color_camera_calibration.intrinsics.parameters.param.p2);
println!("\t color.intrinsics.parameters.param.p1: {}", self.0.color_camera_calibration.intrinsics.parameters.param.p1);
println!("\t color.intrinsics.parameters.param.metric_radius: {}", self.0.color_camera_calibration.intrinsics.parameters.param.metric_radius);
}
println!("==========");
}
}