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73 lines
2.7 KiB
73 lines
2.7 KiB
2 months ago
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# rs-save-to-disk Sample
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## Overview
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This sample demonstrates how to configure the camera for streaming in a textual environment and save depth and color data to PNG format. In addition, it touches on the subject of [per-frame metadata](../../doc/frame_metadata.md)
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## Expected Output
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The application should run for about a second and exit after saving PNG and CSV file to disk:
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## Code Overview
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Similar to the [first tutorial](../capture/) we include the Cross-Platform API:
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```cpp
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#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
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```
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We are using [nothings/stb](https://github.com/nothings/stb) to quickly save data to disk in PNG format:
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```cpp
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// 3rd party header for writing png files
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#define STB_IMAGE_WRITE_IMPLEMENTATION
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#include "stb_image_write.h"
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```
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We start like the last time by defining depth colorizer and starting the pipeline:
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```cpp
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// Declare depth colorizer for pretty visualization of depth data
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rs2::colorizer color_map;
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// Declare RealSense pipeline, encapsulating the actual device and sensors
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rs2::pipeline pipe;
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// Start streaming with default recommended configuration
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pipe.start();
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```
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We prefer not to save the absolute first frame that arrives from the device, but rather wait for auto-exposure to stabalize:
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```cpp
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// Capture 30 frames to give autoexposure, etc. a chance to settle
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for (auto i = 0; i < 30; ++i) pipe.wait_for_frames();
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```
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Intel® RealSense™ devices are not limited to just video streaming, some can offer motion tracking and 6-DOF positioning. For this example we are only interested in video frames, however:
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```cpp
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// We can only save video frames as pngs, so we skip the rest
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if (auto vf = frame.as<rs2::video_frame>())
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```
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To better visualize the depth data, we apply the colorizer on any incoming depth frames:
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```cpp
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// Use the colorizer to get an rgb image for the depth stream
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if (vf.is<rs2::depth_frame>()) vf = color_map(frame);
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```
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Then we save frame data to PNG:
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```cpp
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stbi_write_png(png_file.str().c_str(), vf.get_width(), vf.get_height(),
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vf.get_bytes_per_pixel(), vf.get_data(), vf.get_stride_in_bytes());
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```
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Each frame may come with some metadata feilds. We iterate over all possible metadata feilds and save to CSV these that are available:
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```cpp
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// Record all the available metadata attributes
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for (size_t i = 0; i < RS2_FRAME_METADATA_COUNT; i++)
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{
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if (frm.supports_frame_metadata((rs2_frame_metadata)i))
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{
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csv << rs2_frame_metadata_to_string((rs2_frame_metadata)i) << ","
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<< frm.get_frame_metadata((rs2_frame_metadata)i) << "\n";
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}
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}
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```
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Please see [per-frame metadata](../../doc/frame_metadata.md) for more information.
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