Update k4arecord/types.h and examples to use color, depth and fps mod…

…es instead of enums.

examples/calibration/main.cpp

@@ -59,9 +59,9 @@ static void print_calibration()
 
         k4a_device_configuration_t deviceConfig = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
         deviceConfig.color_format = K4A_IMAGE_FORMAT_COLOR_MJPG;
-        deviceConfig.color_mode_id = K4A_COLOR_RESOLUTION_1080P;
-        deviceConfig.depth_mode_id = K4A_DEPTH_MODE_NFOV_UNBINNED;
-        deviceConfig.fps_mode_id = K4A_FRAMES_PER_SECOND_30;
+        deviceConfig.color_mode_id = 2; // K4A_COLOR_RESOLUTION_1080P
+        deviceConfig.depth_mode_id = 2; // K4A_DEPTH_MODE_NFOV_UNBINNED
+        deviceConfig.fps_mode_id = 2; // K4A_FRAMES_PER_SECOND_30
         deviceConfig.wired_sync_mode = K4A_WIRED_SYNC_MODE_STANDALONE;
         deviceConfig.synchronized_images_only = true;
 

examples/fastpointcloud/main.cpp

@@ -146,8 +146,8 @@ int main(int argc, char **argv)
         goto Exit;
     }
 
-    config.depth_mode_id = K4A_DEPTH_MODE_WFOV_2X2BINNED;
-    config.fps_mode_id = 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 !=

examples/green_screen/main.cpp

@@ -515,9 +515,9 @@ static k4a_device_configuration_t get_default_config()
 {
     k4a_device_configuration_t camera_config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
     camera_config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
-    camera_config.color_resolution = K4A_COLOR_RESOLUTION_720P;
-    camera_config.depth_mode = K4A_DEPTH_MODE_WFOV_UNBINNED; // No need for depth during calibration
-    camera_config.camera_fps = K4A_FRAMES_PER_SECOND_15;     // Don't use all USB bandwidth
+    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.synchronized_images_only = true;
     return camera_config;

examples/k4arecord_custom_track/main.c

@@ -61,8 +61,8 @@ int main(int argc, char **argv)
     char *recording_filename = argv[1];
 
     k4a_device_configuration_t device_config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
-    device_config.depth_mode_id = K4A_DEPTH_MODE_NFOV_UNBINNED;
-    device_config.fps_mode_id = K4A_FRAMES_PER_SECOND_30;
+    device_config.depth_mode_id = 2; // K4A_DEPTH_MODE_NFOV_UNBINNED
+    device_config.fps_mode_id = 2; // K4A_FRAMES_PER_SECOND_30
 
     k4a_device_t device;
     VERIFY(k4a_device_open(0, &device));
@@ -90,7 +90,7 @@ int main(int argc, char **argv)
     // Add a custom video track to store processed depth images.
     // Read the depth resolution from the camera configuration so we can create our custom track with the same size.
     k4a_calibration_t sensor_calibration;
-    VERIFY(k4a_device_get_calibration(device, device_config.depth_mode_id, K4A_COLOR_RESOLUTION_OFF, &sensor_calibration));
+    VERIFY(k4a_device_get_calibration(device, device_config.depth_mode_id, 0, &sensor_calibration)); // K4A_COLOR_RESOLUTION_OFF
     uint32_t depth_width = (uint32_t)sensor_calibration.depth_camera_calibration.resolution_width;
     uint32_t depth_height = (uint32_t)sensor_calibration.depth_camera_calibration.resolution_height;
 

examples/streaming/main.c

@@ -40,9 +40,9 @@ 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 = K4A_COLOR_RESOLUTION_2160P;
-    config.depth_mode_id = K4A_DEPTH_MODE_NFOV_UNBINNED;
-    config.fps_mode_id = K4A_FRAMES_PER_SECOND_30;
+    config.color_mode_id = 5; // K4A_COLOR_RESOLUTION_2160P
+    config.depth_mode_id = 2; // K4A_DEPTH_MODE_NFOV_UNBINNED
+    config.fps_mode_id = 2; // K4A_FRAMES_PER_SECOND_30
 
     if (K4A_RESULT_SUCCEEDED != k4a_device_start_cameras(device, &config))
     {

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 = K4A_COLOR_RESOLUTION_720P;
-    config.depth_mode_id = K4A_DEPTH_MODE_NFOV_UNBINNED;
-    config.fps_mode_id = 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;

examples/undistort/main.cpp

@@ -377,8 +377,8 @@ int main(int argc, char **argv)
         goto Exit;
     }
 
-    config.depth_mode_id = K4A_DEPTH_MODE_WFOV_2X2BINNED;
-    config.fps_mode_id = 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 !=

examples/viewer/opengl/main.cpp

@@ -32,10 +32,10 @@ int main()
         // Start the device
         //
         k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
-        config.fps_mode_id = K4A_FRAMES_PER_SECOND_30;
-        config.depth_mode_id = 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.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
-        config.color_mode_id = K4A_COLOR_RESOLUTION_720P;
+        config.color_mode_id = 1; // K4A_COLOR_RESOLUTION_720P
 
         // This means that we'll only get captures that have both color and
         // depth images, so we don't need to check if the capture contains
@@ -57,8 +57,8 @@ int main()
 
         // Textures we can give to OpenGL / the viewer window to render.
         //
-        Texture depthTexture = window.CreateTexture(GetDepthDimensions((k4a_depth_mode_t)config.depth_mode_id));
-        Texture colorTexture = window.CreateTexture(GetColorDimensions((k4a_color_resolution_t)config.color_mode_id));
+        Texture depthTexture = window.CreateTexture(GetDepthDimensions(config.depth_mode_id));
+        Texture colorTexture = window.CreateTexture(GetColorDimensions(config.color_mode_id));
 
         // A buffer containing a BGRA color representation of the depth image.
         // This is what we'll end up giving to depthTexture as an image source.
@@ -97,7 +97,7 @@ int main()
                 //
                 ColorizeDepthImage(depthImage,
                                    K4ADepthPixelColorizer::ColorizeBlueToRed,
-                                   GetDepthModeRange((k4a_depth_mode_t)config.depth_mode_id),
+                                   GetDepthModeRange(config.depth_mode_id),
                                    &depthTextureBuffer);
                 depthTexture.Update(&depthTextureBuffer[0]);
 

include/k4a/k4atypes.h

@@ -906,7 +906,7 @@ typedef struct _k4a_fps_mode_info_t
     int fps;
 } k4a_fps_mode_info_t;
 
-// TODO: clean up old code that is temp commented out in this struct
+// TODO: redo comments for color, depth and fps?
 /** Configuration parameters for an Azure Kinect device.
  *
  * \remarks
@@ -927,15 +927,12 @@ typedef struct _k4a_device_configuration_t
     k4a_image_format_t color_format;
 
     /** Image resolution to capture with the color camera. */
-    // k4a_color_resolution_t color_resolution;
     uint32_t color_mode_id;
 
     /** Capture mode for the depth camera. */
-    // k4a_depth_mode_t depth_mode;
     uint32_t depth_mode_id;
 
     /** Desired frame rate for the color and depth camera. */
-    //k4a_fps_t camera_fps;
     uint32_t fps_mode_id;
 
     /** Only produce k4a_capture_t objects if they contain synchronized color and depth images.
@@ -1266,9 +1263,9 @@ typedef struct _k4a_imu_sample_t
  * \endxmlonly
  */
 static const k4a_device_configuration_t K4A_DEVICE_CONFIG_INIT_DISABLE_ALL = { K4A_IMAGE_FORMAT_COLOR_MJPG,
-                                                                               0,
-                                                                               0,
-                                                                               2,
+                                                                               0, // K4A_COLOR_RESOLUTION_OFF
+                                                                               0, // K4A_DEPTH_MODE_OFF
+                                                                               2, // K4A_FRAMES_PER_SECOND_30
                                                                                false,
                                                                                0,
                                                                                K4A_WIRED_SYNC_MODE_STANDALONE,

include/k4arecord/types.h

@@ -154,6 +154,7 @@ typedef enum
  * @{
  */
 
+// TODO: redo comments for color, depth and fps?
 /** Structure containing the device configuration used to record.
  *
  * \see k4a_device_configuration_t
@@ -171,13 +172,13 @@ typedef struct _k4a_record_configuration_t
     k4a_image_format_t color_format;
 
     /** Image resolution used to record the color camera. */
-    k4a_color_resolution_t color_resolution;
+    uint32_t color_mode_id;
 
     /** Mode used to record the depth camera. */
-    k4a_depth_mode_t depth_mode;
+    uint32_t depth_mode_id;
 
     /** Frame rate used to record the color and depth camera. */
-    k4a_fps_t camera_fps;
+    uint32_t fps_mode_id;
 
     /** True if the recording contains Color camera frames. */
     bool color_track_enabled;