ColorReaderPoll\main.c

// This file is part of the Orbbec Astra SDK [https://orbbec3d.com]
// Copyright (c) 2015-2017 Orbbec 3D
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Be excellent to each other.
#include <astra/capi/astra.h>
#include <stdio.h>
#include <key_handler.h>
 
void print_color(astra_colorframe_t colorFrame)
{
    astra_image_metadata_t metadata;
    astra_rgb_pixel_t* colorData_rgb;
 
    uint32_t colorByteLength;
 
    astra_colorframe_get_data_rgb_ptr(colorFrame, &colorData_rgb, &colorByteLength);
 
    astra_colorframe_get_metadata(colorFrame, &metadata);
 
    int width = metadata.width;
    int height = metadata.height;
    size_t index = ((width * (height / 2)) + (width / 2));
 
    astra_frame_index_t frameIndex;
    astra_colorframe_get_frameindex(colorFrame, &frameIndex);
 
    astra_rgb_pixel_t middle = colorData_rgb[index];
    printf("color frameIndex: %d  r: %d    g: %d    b: %d \n", frameIndex, (int)(middle.r), (int)(middle.g), (int)(middle.b));
}
 
 
int main(int argc, char* argv[])
{
    set_key_handler();
 
    astra_initialize();
 
    astra_streamsetconnection_t sensor;
 
    astra_streamset_open("device/default", &sensor);
 
    astra_reader_t reader;
    astra_reader_create(sensor, &reader);
 
    astra_depthstream_t colorStream;
    astra_reader_get_colorstream(reader, &colorStream);
 
    astra_stream_start(colorStream);
 
    astra_frame_index_t lastFrameIndex = -1;
 
    do
    {
        astra_update();
 
        astra_reader_frame_t frame;
        astra_status_t rc = astra_reader_open_frame(reader, 0, &frame);
 
        if (rc == ASTRA_STATUS_SUCCESS)
        {
            astra_colorframe_t colorFrame;
            astra_frame_get_colorframe(frame, &colorFrame);
 
            astra_frame_index_t newFrameIndex;
            astra_colorframe_get_frameindex(colorFrame, &newFrameIndex);
 
            if (lastFrameIndex == newFrameIndex)
            {
                printf("duplicate frame index: %d\n", lastFrameIndex);
            }
            lastFrameIndex = newFrameIndex;
 
            print_color(colorFrame);
 
            astra_reader_close_frame(&frame);
        }
 
    } while (shouldContinue);
 
    astra_reader_destroy(&reader);
    astra_streamset_close(&sensor);
 
    astra_terminate();
}