InfraredReaderPoll\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 <astra/capi/streams/infrared_capi.h>
#include <stdio.h>
#include <key_handler.h>
 
 
void print_infrared(astra_infraredframe_t infraredFrame)
{
    astra_image_metadata_t metadata;
 
    uint32_t irLength;
 
    uint8_t* dataBytes = NULL;
    astra_infraredframe_get_data_ptr(infraredFrame, &dataBytes, &irLength);
    astra_infraredframe_get_metadata(infraredFrame, &metadata);
 
    uint16_t* irData = (uint16_t*)dataBytes;
 
    int width = metadata.width;
    int height = metadata.height;
 
    size_t index = ((width * (height / 2)) + (width / 2));
    uint16_t middle = irData[index];
 
    astra_frame_index_t frameIndex;
    astra_infraredframe_get_frameindex(infraredFrame, &frameIndex);
 
    printf("infrared frameIndex:  %d  value:  %d \n", frameIndex, middle);
}
 
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_infraredstream_t infraredStream;
    astra_reader_get_infraredstream(reader, &infraredStream);
 
    astra_imagestream_mode_t mode;
    mode.width = 640;
    mode.height = 480;
    mode.pixelFormat = ASTRA_PIXEL_FORMAT_GRAY16;
    mode.fps = 30;
    astra_imagestream_set_mode(infraredStream, &mode);
 
    astra_stream_start(infraredStream);
 
    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_infraredframe_t infraredFrame;
            astra_frame_get_infraredframe(frame, &infraredFrame);
 
            print_infrared(infraredFrame);
 
            astra_reader_close_frame(&frame);
        }
    } while (shouldContinue);
 
    astra_reader_destroy(&reader);
    astra_streamset_close(&sensor);
 
    astra_terminate();
}