Struct Device

pub struct Device { /* private fields */ }

The main interface to the camera.

Implementations

impl Device

pub fn initialize(scan_time: Duration, verbose: bool) -> Result<Self, String>

Initializes the sytem and returns a device if it finds one. Make sure a Vzense camera is connected. scan_time should be at least one second to find a device. Set scan_time = Duration::MAX to scan until a device was found (useful to wait for reconnection after the connection to a device was interrupted).

pub fn set_depth_range(&mut self, min_depth_mm: u16, max_depth_mm: u16)

Choosing the min/max depth in mm for the color mapping of the depth output. These values also bound the depths used in the util::TochDetector to reduce measuring artifacts.

pub fn get_frame_rate(&self) -> Result<u8, String>

Get the current frame rate of the camera.

pub fn set_frame_rate(&self, rate: u8) -> Result<(), String>

Set the ToF frame rate. Different devices have different maximum values. Please refer to the device specification.

pub fn get_frame_info(&self) -> String

Get frame info like frame type, pixel format, width, height, etc.

pub fn check_pixel_count(&self, pixel_count: usize)

Checks if the number of pixels in frame equals pixel_count.

pub fn set_color_format(&self, format: ColorFormat)

Set the color frame format to either RGB or BGR.

pub fn map_color_to_depth(&mut self, is_enabled: bool)

Enable or disable the mapping of the color image to depth camera space.

pub fn set_color_resolution( &mut self, resolution: ColorResolution, ) -> Resolution

Sets the resolution of the color frame. Three resolutions are currently available: 640x480, 800x600, and 1600x1200.

pub fn get_color_resolution(&self) -> Resolution

Returns the resolution of the color frame.

pub fn set_depth_measuring_range(&self, depth_range: DepthMeasuringRange)

Sets the depth range mode.

pub fn get_depth_measuring_range(&self) -> (u16, u16)

Returns the current depth measuring range (min, max) of the camera in mm.

pub fn set_wait_time(&self, time: u16)

Set the wait time for the call to read_next_frame in ms.

pub fn get_data_mode(&self) -> Result<u32, String>

Current data mode.

pub fn shut_down(&mut self, verbose: bool)

Stops the stream, closes the device, and clears all resources.

pub fn get_device_info(&self, device_count: u32) -> Result<[String; 4], String>

Returns device info as an array of Strings: [model, IP, firmware, serial number]

pub fn init() -> Result<Self, String>

👎Deprecated since 0.3.0: Use initialize(scan_time, verbose) instead.

Trait Implementations

impl Data for Device

Data trait to allow use of Device in util::TouchDetector.

fn get_frame_p_frame_data(&self) -> *mut u8

fn get_frame_data_len(&self) -> usize

fn get_min_depth_mm(&self) -> u16

fn get_max_depth_mm(&self) -> u16

fn current_frame_is_depth(&self) -> bool