Fixing K4A build errors in src/record/internal/matroska_read.cpp abou…

…t not being able to convert from float to enum, and in tools/k4aviewer/k4arecordingdockcontrol.cpp about mismatched signed/unsigned comparison. The rest of the changes are formatting enforced by clang with the command line command "ninja clangformat". The command line build enforces this step before building. Fixed Bug 5456.
microsoft · JonathanESantos · Nov 6, 2020 · Nov 11, 2020 · Nov 11, 2020 · Nov 11, 2020
commit af6d21799cedb7539d69e201bd87563fc13758f1
diff --git a/examples/fastpointcloud/main.cpp b/examples/fastpointcloud/main.cpp
@@ -146,8 +146,8 @@ int main(int argc, char **argv)
         goto Exit;
     }
 
-    config.depth_mode_id = 3;// K4A_DEPTH_MODE_WFOV_2X2BINNED
-    config.fps_mode_id = 2;// K4A_FRAMES_PER_SECOND_30
+    config.depth_mode_id = 3; // K4A_DEPTH_MODE_WFOV_2X2BINNED
+    config.fps_mode_id = 2;   // K4A_FRAMES_PER_SECOND_30
 
     k4a_calibration_t calibration;
     if (K4A_RESULT_SUCCEEDED !=

diff --git a/examples/green_screen/main.cpp b/examples/green_screen/main.cpp
@@ -518,7 +518,7 @@ static k4a_device_configuration_t get_default_config()
     camera_config.color_mode_id = 1; // K4A_COLOR_RESOLUTION_720P
     camera_config.depth_mode_id = 4; // K4A_DEPTH_MODE_WFOV_UNBINNED // No need for depth during calibration
     camera_config.fps_mode_id = 1;   // K4A_FRAMES_PER_SECOND_15 // Don't use all USB bandwidth
-    camera_config.subordinate_delay_off_master_usec = 0;     // Must be zero for master
+    camera_config.subordinate_delay_off_master_usec = 0; // Must be zero for master
     camera_config.synchronized_images_only = true;
     return camera_config;
 }

diff --git a/examples/k4arecord_custom_track/main.c b/examples/k4arecord_custom_track/main.c
@@ -73,7 +73,7 @@ int main(int argc, char **argv)
     k4a_device_get_fps_mode(device, 2, &fps_mode_info); // K4A_FRAMES_PER_SECOND_30
 
     k4a_device_configuration_t device_config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
-    device_config.depth_mode_id = depth_mode_info.mode_id; 
+    device_config.depth_mode_id = depth_mode_info.mode_id;
     device_config.fps_mode_id = fps_mode_info.mode_id;
 
     VERIFY(k4a_device_start_cameras(device, &device_config));

diff --git a/examples/streaming/main.c b/examples/streaming/main.c
@@ -49,7 +49,7 @@ int main(int argc, char **argv)
 
     k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
     config.color_format = K4A_IMAGE_FORMAT_COLOR_MJPG;
-    config.color_mode_id = color_mode_info.mode_id; 
+    config.color_mode_id = color_mode_info.mode_id;
     config.depth_mode_id = depth_mode_info.mode_id;
     config.fps_mode_id = fps_mode_info.mode_id;
 

diff --git a/examples/transformation/main.cpp b/examples/transformation/main.cpp
@@ -146,9 +146,9 @@ static int capture(std::string output_dir, uint8_t deviceId = K4A_DEVICE_DEFAULT
     }
 
     config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
-    config.color_mode_id = 1; // K4A_COLOR_RESOLUTION_720P
-    config.depth_mode_id = 2; // K4A_DEPTH_MODE_NFOV_UNBINNED
-    config.fps_mode_id = 2; // K4A_FRAMES_PER_SECOND_30
+    config.color_mode_id = 1;               // K4A_COLOR_RESOLUTION_720P
+    config.depth_mode_id = 2;               // K4A_DEPTH_MODE_NFOV_UNBINNED
+    config.fps_mode_id = 2;                 // K4A_FRAMES_PER_SECOND_30
     config.synchronized_images_only = true; // ensures that depth and color images are both available in the capture
 
     k4a_calibration_t calibration;

diff --git a/examples/undistort/main.cpp b/examples/undistort/main.cpp
@@ -377,8 +377,8 @@ int main(int argc, char **argv)
         goto Exit;
     }
 
-    config.depth_mode_id = 3;// K4A_DEPTH_MODE_WFOV_2X2BINNED
-    config.fps_mode_id = 2;// K4A_FRAMES_PER_SECOND_30
+    config.depth_mode_id = 3; // K4A_DEPTH_MODE_WFOV_2X2BINNED
+    config.fps_mode_id = 2;   // K4A_FRAMES_PER_SECOND_30
 
     k4a_calibration_t calibration;
     if (K4A_RESULT_SUCCEEDED !=

diff --git a/examples/viewer/opengl/main.cpp b/examples/viewer/opengl/main.cpp
@@ -106,8 +106,7 @@ int main()
                 //
                 ColorizeDepthImage(depthImage,
                                    K4ADepthPixelColorizer::ColorizeBlueToRed,
-                                   { (uint16_t)depth_mode_info.min_range,
-                                     (uint16_t)depth_mode_info.max_range },
+                                   { (uint16_t)depth_mode_info.min_range, (uint16_t)depth_mode_info.max_range },
                                    &depthTextureBuffer);
                 depthTexture.Update(&depthTextureBuffer[0]);
 

diff --git a/include/k4a/k4a.h b/include/k4a/k4a.h
@@ -2291,7 +2291,6 @@ K4A_EXPORT k4a_result_t k4a_device_get_fps_mode(k4a_device_t device_handle,
                                                 int mode_index,
                                                 k4a_fps_mode_info_t *mode_info);
 
-
 /**
  * @}
  */

diff --git a/include/k4a/k4a.hpp b/include/k4a/k4a.hpp
@@ -764,17 +764,12 @@ struct calibration : public k4a_calibration_t
      *
      * \sa k4a_calibration_get_from_raw
      */
-    static calibration get_from_raw(char *raw_calibration,
-                                    size_t raw_calibration_size,
-                                    uint32_t depth_mode_id,
-                                    uint32_t color_mode_id)
+    static calibration
+    get_from_raw(char *raw_calibration, size_t raw_calibration_size, uint32_t depth_mode_id, uint32_t color_mode_id)
     {
         calibration calib;
-        k4a_result_t result = k4a_calibration_get_from_raw(raw_calibration,
-                                                           raw_calibration_size,
-                                                           depth_mode_id,
-                                                           color_mode_id,
-                                                           &calib);
+        k4a_result_t result =
+            k4a_calibration_get_from_raw(raw_calibration, raw_calibration_size, depth_mode_id, color_mode_id, &calib);
 
         if (K4A_RESULT_SUCCEEDED != result)
         {
@@ -788,10 +783,8 @@ struct calibration : public k4a_calibration_t
      *
      * \sa k4a_calibration_get_from_raw
      */
-    static calibration get_from_raw(uint8_t *raw_calibration,
-                                    size_t raw_calibration_size,
-                                    uint32_t depth_mode_id,
-                                    uint32_t color_mode_id)
+    static calibration
+    get_from_raw(uint8_t *raw_calibration, size_t raw_calibration_size, uint32_t depth_mode_id, uint32_t color_mode_id)
     {
         return get_from_raw(reinterpret_cast<char *>(raw_calibration),
                             raw_calibration_size,
@@ -1449,16 +1442,15 @@ class device
         return k4a_device_get_installed_count();
     }
 
-
     // TODO: add comments
     k4a_device_info_t get_info()
     {
         K4A_INIT_STRUCT(k4a_device_info_t, info);
         k4a_device_get_info(m_handle, &info);
 
         return info;
-    } 
-    
+    }
+
     // TODO: add comments
     std::vector<k4a_color_mode_info_t> get_color_modes()
     {
@@ -1480,8 +1472,8 @@ class device
         }
 
         return modes;
-    }    
-    
+    }
+
     // TODO: add comments
     k4a_color_mode_info_t get_color_mode(int color_mode_id)
     {
@@ -1501,8 +1493,8 @@ class device
         }
 
         return mode;
-    } 
-    
+    }
+
     // TODO: add comments
     std::vector<k4a_depth_mode_info_t> get_depth_modes()
     {
@@ -1522,7 +1514,7 @@ class device
                 }
             }
         }
-        
+
         return modes;
     }
 
@@ -1545,7 +1537,7 @@ class device
         }
 
         return mode;
-    } 
+    }
 
     // TODO: add comments
     std::vector<k4a_fps_mode_info_t> get_fps_modes()
@@ -1589,10 +1581,10 @@ class device
         }
 
         return mode;
-    } 
+    }
 
     // TODO: add comments
-    int get_common_factor(int width, int height) 
+    int get_common_factor(int width, int height)
     {
         return (height == 0) ? width : get_common_factor(height, width % height);
     }

diff --git a/include/k4a/k4atypes.h b/include/k4a/k4atypes.h
@@ -195,12 +195,11 @@ K4A_DECLARE_HANDLE(k4a_image_t);
 K4A_DECLARE_HANDLE(k4a_transformation_t);
 
 // TODO: comment
-#define K4A_INIT_STRUCT(T, S) \
-    T S{}; \
-    S.struct_size = sizeof(T); \
+#define K4A_INIT_STRUCT(T, S)                                                                                          \
+    T S{};                                                                                                             \
+    S.struct_size = sizeof(T);                                                                                         \
     S.struct_version = K4A_ABI_VERSION;
 
-
 // TODO: comment
 #define K4A_ABI_VERSION 1
 
@@ -1254,9 +1253,8 @@ typedef struct _k4a_imu_sample_t
  * </requirements>
  * \endxmlonly
  */
-static const k4a_device_configuration_t K4A_DEVICE_CONFIG_INIT_DISABLE_ALL = {
-    K4A_IMAGE_FORMAT_COLOR_MJPG, 0, 0, 2, false, 0, K4A_WIRED_SYNC_MODE_STANDALONE, 0, false
-};
+static const k4a_device_configuration_t K4A_DEVICE_CONFIG_INIT_DISABLE_ALL =
+    { K4A_IMAGE_FORMAT_COLOR_MJPG, 0, 0, 2, false, 0, K4A_WIRED_SYNC_MODE_STANDALONE, 0, false };
 
 /**
  * @}

diff --git a/include/k4ainternal/matroska_read.h b/include/k4ainternal/matroska_read.h
@@ -17,10 +17,8 @@
 namespace k4arecord
 {
 // The depth mode string for legacy recordings
-static const std::pair<k4a_depth_mode_t, std::string> legacy_depth_modes[] = {
-    { K4A_DEPTH_MODE_NFOV_2X2BINNED, "NFOV_2x2BINNED" },
-    { K4A_DEPTH_MODE_WFOV_2X2BINNED, "WFOV_2x2BINNED" }
-};
+static const std::pair<k4a_depth_mode_t, std::string> legacy_depth_modes[] =
+    { { K4A_DEPTH_MODE_NFOV_2X2BINNED, "NFOV_2x2BINNED" }, { K4A_DEPTH_MODE_WFOV_2X2BINNED, "WFOV_2x2BINNED" } };
 
 typedef struct _cluster_info_t
 {

diff --git a/src/dewrapper/dewrapper.c b/src/dewrapper/dewrapper.c
@@ -127,8 +127,10 @@ static k4a_result_t depth_engine_start_helper(dewrapper_context_t *dewrapper,
                                               int *depth_engine_max_compute_time_ms,
                                               size_t *depth_engine_output_buffer_size)
 {
-    RETURN_VALUE_IF_ARG(K4A_RESULT_FAILED, fps_mode_id < K4A_FRAMES_PER_SECOND_5 || fps_mode_id > K4A_FRAMES_PER_SECOND_30);
-    RETURN_VALUE_IF_ARG(K4A_RESULT_FAILED, depth_mode_id <= K4A_DEPTH_MODE_OFF || depth_mode_id > K4A_DEPTH_MODE_PASSIVE_IR);
+    RETURN_VALUE_IF_ARG(K4A_RESULT_FAILED,
+                        fps_mode_id < K4A_FRAMES_PER_SECOND_5 || fps_mode_id > K4A_FRAMES_PER_SECOND_30);
+    RETURN_VALUE_IF_ARG(K4A_RESULT_FAILED,
+                        depth_mode_id <= K4A_DEPTH_MODE_OFF || depth_mode_id > K4A_DEPTH_MODE_PASSIVE_IR);
     k4a_result_t result = K4A_RESULT_SUCCEEDED;
 
     assert(dewrapper->depth_engine == NULL);
@@ -587,7 +589,7 @@ void dewrapper_stop(dewrapper_t dewrapper_handle)
         (void)K4A_RESULT_FROM_BOOL(tresult == THREADAPI_OK); // Trace the issue, but we don't return a failure
 
         // TODO: watch out for whatever was supposed to happen by having set fps = -1
-        dewrapper->fps_mode_id = 2; // 
+        dewrapper->fps_mode_id = 2;   //
         dewrapper->depth_mode_id = 0; // K4A_DEPTH_MODE_OFF
     }
-Original file line number
+Diff line change
@@ Expand Up @@
                                                     int mode_index,
                                                     k4a_fps_mode_info_t *mode_info);
     /**
      * @}
      */
@@ Expand Down @@