DepthReaderEvent\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_depth(astra_depthframe_t depthFrame)
{
    astra_image_metadata_t metadata;
    int16_t* depthData;
    uint32_t depthLength;
 
    astra_depthframe_get_data_ptr(depthFrame, &depthData, &depthLength);
    astra_depthframe_get_metadata(depthFrame, &metadata);
 
    int width = metadata.width;
    int height = metadata.height;
 
    size_t index = ((width * (height / 2)) + (width / 2));
    short middle = depthData[index];
 
    astra_frame_index_t frameIndex;
    astra_depthframe_get_frameindex(depthFrame, &frameIndex);
 
    printf("depth frameIndex:  %d  value:  %d \n", frameIndex, middle);
}
 
void frame_ready(void* clientTag, astra_reader_t reader, astra_reader_frame_t frame)
{
    astra_depthframe_t depthFrame;
    astra_frame_get_depthframe(frame, &depthFrame);
 
    print_depth(depthFrame);
}
 
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 depthStream;
    astra_reader_get_depthstream(reader, &depthStream);
    astra_stream_start(depthStream);
 
    astra_reader_callback_id_t callbackId;
    astra_reader_register_frame_ready_callback(reader, &frame_ready, NULL, &callbackId);
 
    do
    {
        astra_update();
 
    } while (shouldContinue);
 
    astra_reader_unregister_frame_ready_callback(&callbackId);
 
    astra_reader_destroy(&reader);
    astra_streamset_close(&sensor);
 
    astra_terminate();
}