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Fix point cloud transformation bug #1567
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…get mode for color and depth.
…Added to device class.
…es instead of enums.
… count functions, refactored k4astaticimageproperties
…ts to use new get mode functions
…ce id in device get info in k4a.c
…color/depth/fps mode arrays into modes.h.
…ding device info to recordings.
…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.
…get_color_mode(), k4a_get_depth_mode(), and k4a_get_fps_mode(). The parameter into these functions are the mode_index, not the mode_id.
…etting the desired fps_mode. Previously it defaulted to 30 fps, but because there is a default 0 FPS case that is added to the enum, the user now has to explicitly set the desired fps.
…on of variable names starting with underscore followed by underscore or capital letter as reserved for implementation and library.
…ll, which makes it more obvious what the intent is rather than a simple cast.
…from being set randomly.
…t users have direct access to the bitmap of capabilities.
…s that do not modify the instance.
…r file to consolidate the multiple definitions in various files into one file.
…n compilation unit and static library. This static library should only be used internally; external tools should use the k4a API. There is one notable place where an external tool uses this backdoor approach to get mode information: the recorder and playback. This is because the information saved in a matroska file consists only of the mode ids and not the full mode info struct. Upon playback, the mode info struct is reconstructed without the presence of a device by using this backdoor approach using k4ainternal/modes.h rather than through k4a/k4a.h. The consequence of this is that it is tied to Azure Kinect modes and will not work for other devices that have different modes. The optimal solution is to save the full mode info structs in the matroska file and reconstructed upon reading.
…o_t field was changed from uint32_t to a union, and when k4ainternal/modes.h implementation was put in its own library unit.
…16 when it should be using int16 because the X and Y coordinates are centered around 0 and can take on negative values. Adding example code point_cloud_capture.py for an example of writing point cloud to text file. The text file can then be opened in a 3D modeling application like MeshLab.
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Fixes #1556
Description of the changes:
Before submitting a Pull Request:
I tested changes on: