Add ability to fetch camera calibration params

Topic: vendor-submodule

Author: wolfd

src/pipeline.rs

@@ -6,7 +6,10 @@ use crate::{
     device::Device,
     frame::FrameSet,
     stream::{StreamProfile, StreamProfileList, VideoStreamProfile},
-    sys::pipeline::{OBConfig, OBPipeline, frameset_trampoline},
+    sys::{
+        orb::OBCameraParam,
+        pipeline::{OBConfig, OBPipeline, frameset_trampoline},
+    },
 };
 
 /// Pipeline Configuration
@@ -133,6 +136,13 @@ impl Pipeline {
         Ok(profile_list)
     }
 
+    /// Get the camera parameters for the pipeline
+    pub fn get_camera_param(&mut self) -> Result<OBCameraParam, crate::error::OrbbecError> {
+        self.inner
+            .get_camera_param()
+            .map_err(crate::error::OrbbecError::from)
+    }
+
     /// Start the pipeline with the given configuration
     /// ### Arguments
     /// * `config` - Configuration to use for the pipeline

src/stream.rs

@@ -2,42 +2,14 @@
 use crate::{
     Format,
     error::OrbbecError,
-    sys::stream::{OBCameraIntrinsic, OBStreamProfile, OBStreamProfileList},
+    sys::{
+        orb::OBCameraIntrinsic,
+        stream::{OBStreamProfile, OBStreamProfileList},
+    },
 };
 
 /// Stream profile trait
 pub trait StreamProfile: AsRef<OBStreamProfile> {}
-
-/// Camera intrinsic for a stream
-#[derive(Debug, Clone, Copy, PartialEq)]
-pub struct CameraIntrinsic {
-    /// Focal length in pixels along X axis
-    pub fx: f32,
-    /// Focal length in pixels along Y axis
-    pub fy: f32,
-    /// Optical center abscissa
-    pub cx: f32,
-    /// Optical center ordinate
-    pub cy: f32,
-    /// Image width in pixels
-    pub width: u16,
-    /// Image height in pixels
-    pub height: u16,
-}
-
-impl From<OBCameraIntrinsic> for CameraIntrinsic {
-    fn from(intrinsic: OBCameraIntrinsic) -> Self {
-        CameraIntrinsic {
-            fx: intrinsic.fx(),
-            fy: intrinsic.fy(),
-            cx: intrinsic.cx(),
-            cy: intrinsic.cy(),
-            width: intrinsic.width() as u16,
-            height: intrinsic.height() as u16,
-        }
-    }
-}
-
 /// Video Stream profile
 pub struct VideoStreamProfile {
     inner: OBStreamProfile,
@@ -53,11 +25,8 @@ impl VideoStreamProfile {
     }
 
     /// Get the camera intrinsic parameters for this video stream profile
-    pub fn get_intrinsic(&self) -> Result<CameraIntrinsic, OrbbecError> {
-        self.inner
-            .get_video_intrinsic()
-            .map(|intrinsic| intrinsic.into())
-            .map_err(OrbbecError::from)
+    pub fn get_intrinsic(&self) -> Result<OBCameraIntrinsic, OrbbecError> {
+        self.inner.get_video_intrinsic().map_err(OrbbecError::from)
     }
 
     /// Get the width of this video stream profile in pixels

src/sys/pipeline.rs

@@ -1,5 +1,5 @@
 //! Pipeline configuration and management
-use crate::sys::orb::{OBAlignMode, OBFrameAggregateOutputMode, OBSensorType};
+use crate::sys::orb::{OBAlignMode, OBCameraParam, OBFrameAggregateOutputMode, OBSensorType};
 
 use super::device::OBDevice;
 use super::frame::OBFrame;
@@ -112,6 +112,12 @@ impl OBPipeline {
         orb::ob_pipeline_enable_frame_sync,
     );
 
+    impl_ob_method!(
+        /// Get the camera parameters for the pipeline
+        get_camera_param => OBCameraParam,
+        orb::ob_pipeline_get_camera_param,
+    );
+
     impl_ob_method!(
         /// Disable frame synchronization
         disable_frame_sync => (),

src/sys/stream.rs

@@ -1,49 +1,6 @@
 //! Stream profiles and related operations
 use super::{OBError, call_ob_function, drop_ob_object, impl_ob_method, orb};
-use crate::sys::orb::OBFormat;
-
-/// Camera intrinsic parameters
-pub struct OBCameraIntrinsic {
-    inner: orb::OBCameraIntrinsic,
-}
-
-impl OBCameraIntrinsic {
-    /// Focal length in pixels along X axis
-    pub fn fx(&self) -> f32 {
-        self.inner.fx
-    }
-
-    /// Focal length in pixels along Y axis
-    pub fn fy(&self) -> f32 {
-        self.inner.fy
-    }
-
-    /// Optical center abscissa
-    pub fn cx(&self) -> f32 {
-        self.inner.cx
-    }
-
-    /// Optical center ordinate
-    pub fn cy(&self) -> f32 {
-        self.inner.cy
-    }
-
-    /// Image width in pixels
-    pub fn width(&self) -> i16 {
-        self.inner.width
-    }
-
-    /// Image height in pixels
-    pub fn height(&self) -> i16 {
-        self.inner.height
-    }
-}
-
-impl From<orb::OBCameraIntrinsic> for OBCameraIntrinsic {
-    fn from(intrinsic: orb::OBCameraIntrinsic) -> Self {
-        OBCameraIntrinsic { inner: intrinsic }
-    }
-}
+use crate::sys::orb::{OBCameraIntrinsic, OBFormat};
 
 /// Stream profile
 pub struct OBStreamProfile {
@@ -61,11 +18,11 @@ impl OBStreamProfile {
         self.inner
     }
 
-    /// Get video stream profile intrinsic
-    pub fn get_video_intrinsic(&self) -> Result<OBCameraIntrinsic, OBError> {
-        let intrinsics = call_ob_function!(orb::ob_video_stream_profile_get_intrinsic, self.inner)?;
-        Ok(OBCameraIntrinsic::from(intrinsics))
-    }
+    impl_ob_method!(
+        /// Get video stream profile intrinsic
+        get_video_intrinsic => OBCameraIntrinsic,
+        orb::ob_video_stream_profile_get_intrinsic,
+    );
 
     impl_ob_method!(
         /// Get stream profile format