hight-level-robotics-congnitive-agent/librealsense/examples/C/depth/rs-depth.c

// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.

/* Include the librealsense C header files */
#include <librealsense2/rs.h>
#include <librealsense2/h/rs_pipeline.h>
#include <librealsense2/h/rs_option.h>
#include <librealsense2/h/rs_frame.h>
#include "example.h"

#include <stdlib.h>
#include <stdint.h>
#include <stdio.h>


////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//                                     These parameters are reconfigurable                                        //
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
#define STREAM          RS2_STREAM_DEPTH  // rs2_stream is a types of data provided by RealSense device           //
#define FORMAT          RS2_FORMAT_Z16    // rs2_format identifies how binary data is encoded within a frame      //
#define WIDTH           640               // Defines the number of columns for each frame or zero for auto resolve//
#define HEIGHT          0                 // Defines the number of lines for each frame or zero for auto resolve  //
#define FPS             30                // Defines the rate of frames per second                                //
#define STREAM_INDEX    0                 // Defines the stream index, used for multiple streams of the same type //
#define HEIGHT_RATIO    20                // Defines the height ratio between the original frame to the new frame //
#define WIDTH_RATIO     10                // Defines the width ratio between the original frame to the new frame  //
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

// The number of meters represented by a single depth unit
float get_depth_unit_value(const rs2_device* const dev)
{
    rs2_error* e = 0;
    rs2_sensor_list* sensor_list = rs2_query_sensors(dev, &e);
    check_error(e);

    int num_of_sensors = rs2_get_sensors_count(sensor_list, &e);
    check_error(e);

    float depth_scale = 0;
    int is_depth_sensor_found = 0;
    int i;
    for (i = 0; i < num_of_sensors; ++i)
    {
        rs2_sensor* sensor = rs2_create_sensor(sensor_list, i, &e);
        check_error(e);

        // Check if the given sensor can be extended to depth sensor interface
        is_depth_sensor_found = rs2_is_sensor_extendable_to(sensor, RS2_EXTENSION_DEPTH_SENSOR, &e);
        check_error(e);

        if (1 == is_depth_sensor_found)
        {
            depth_scale = rs2_get_option((const rs2_options*)sensor, RS2_OPTION_DEPTH_UNITS, &e);
            check_error(e);
            rs2_delete_sensor(sensor);
            break;
        }
        rs2_delete_sensor(sensor);
    }
    rs2_delete_sensor_list(sensor_list);

    if (0 == is_depth_sensor_found)
    {
        printf("Depth sensor not found!\n");
        exit(EXIT_FAILURE);
    }

    return depth_scale;
}


int main()
{
    rs2_error* e = 0;

    // Create a context object. This object owns the handles to all connected realsense devices.
    // The returned object should be released with rs2_delete_context(...)
    rs2_context* ctx = rs2_create_context(RS2_API_VERSION, &e);
    check_error(e);

    /* Get a list of all the connected devices. */
    // The returned object should be released with rs2_delete_device_list(...)
    rs2_device_list* device_list = rs2_query_devices(ctx, &e);
    check_error(e);

    int dev_count = rs2_get_device_count(device_list, &e);
    check_error(e);
    printf("There are %d connected RealSense devices.\n", dev_count);
    if (0 == dev_count)
        return EXIT_FAILURE;

    // Get the first connected device
    // The returned object should be released with rs2_delete_device(...)
    rs2_device* dev = rs2_create_device(device_list, 0, &e);
    check_error(e);

    print_device_info(dev);

    /* Determine depth value corresponding to one meter */
    uint16_t one_meter = (uint16_t)(1.0f / get_depth_unit_value(dev));

    // Create a pipeline to configure, start and stop camera streaming
    // The returned object should be released with rs2_delete_pipeline(...)
    rs2_pipeline* pipeline =  rs2_create_pipeline(ctx, &e);
    check_error(e);

    // Create a config instance, used to specify hardware configuration
    // The retunred object should be released with rs2_delete_config(...)
    rs2_config* config = rs2_create_config(&e);
    check_error(e);

    // Request a specific configuration
    rs2_config_enable_stream(config, STREAM, STREAM_INDEX, WIDTH, HEIGHT, FORMAT, FPS, &e);
    check_error(e);

    // Start the pipeline streaming
    // The returned object should be released with rs2_delete_pipeline_profile(...)
    rs2_pipeline_profile* pipeline_profile = rs2_pipeline_start_with_config(pipeline, config, &e);
    if (e)
    {
        printf("The connected device doesn't support depth streaming!\n");
        exit(EXIT_FAILURE);
    }

    rs2_stream_profile_list* stream_profile_list = rs2_pipeline_profile_get_streams(pipeline_profile, &e);
    if (e)
    {
        printf("Failed to create stream profile list!\n");
        exit(EXIT_FAILURE);
    }

    rs2_stream_profile* stream_profile = (rs2_stream_profile*)rs2_get_stream_profile(stream_profile_list, 0, &e);
    if (e)
    {
        printf("Failed to create stream profile!\n");
        exit(EXIT_FAILURE);
    }

    rs2_stream stream; rs2_format format; int index; int unique_id; int framerate;
    rs2_get_stream_profile_data(stream_profile, &stream, &format, &index, &unique_id, &framerate, &e);
    if (e)
    {
        printf("Failed to get stream profile data!\n");
        exit(EXIT_FAILURE);
    }

    int width; int height;
    rs2_get_video_stream_resolution(stream_profile, &width, &height, &e);
    if (e)
    {
        printf("Failed to get video stream resolution data!\n");
        exit(EXIT_FAILURE);
    }
    int rows = height / HEIGHT_RATIO;
    int row_length = width / WIDTH_RATIO;
    int display_size = (rows + 1) * (row_length + 1);
    int buffer_size = display_size * sizeof(char);

    char* buffer = calloc(display_size, sizeof(char));
    char* out = NULL;

    while (1)
    {
        // This call waits until a new composite_frame is available
        // composite_frame holds a set of frames. It is used to prevent frame drops
        // The returned object should be released with rs2_release_frame(...)
        rs2_frame* frames = rs2_pipeline_wait_for_frames(pipeline, RS2_DEFAULT_TIMEOUT, &e);
        check_error(e);

        // Returns the number of frames embedded within the composite frame
        int num_of_frames = rs2_embedded_frames_count(frames, &e);
        check_error(e);

        int i;
        for (i = 0; i < num_of_frames; ++i)
        {
            // The retunred object should be released with rs2_release_frame(...)
            rs2_frame* frame = rs2_extract_frame(frames, i, &e);
            check_error(e);

            // Check if the given frame can be extended to depth frame interface
            // Accept only depth frames and skip other frames
            if (0 == rs2_is_frame_extendable_to(frame, RS2_EXTENSION_DEPTH_FRAME, &e))
            {
                rs2_release_frame(frame);
                continue;
            }

            /* Retrieve depth data, configured as 16-bit depth values */
            const uint16_t* depth_frame_data = (const uint16_t*)(rs2_get_frame_data(frame, &e));
            check_error(e);

            /* Print a simple text-based representation of the image, by breaking it into 10x5 pixel regions and approximating the coverage of pixels within one meter */
            out = buffer;
            int x, y, i;
            int* coverage = calloc(row_length, sizeof(int));

            for (y = 0; y < height; ++y)
            {
                for (x = 0; x < width; ++x)
                {
                    // Create a depth histogram to each row
                    int coverage_index = x / WIDTH_RATIO;
                    int depth = *depth_frame_data++;
                    if (depth > 0 && depth < one_meter)
                        ++coverage[coverage_index];
                }

                if ((y % HEIGHT_RATIO) == (HEIGHT_RATIO-1))
                {
                    for (i = 0; i < (row_length); ++i)
                    {
                        static const char* pixels = " .:nhBXWW";
                        int pixel_index = (coverage[i] / (HEIGHT_RATIO * WIDTH_RATIO / sizeof(pixels)));
                        *out++ = pixels[pixel_index];
                        coverage[i] = 0;
                    }
                    *out++ = '\n';
                }
            }
            *out++ = 0;
            printf("\n%s", buffer);

            free(coverage);
            rs2_release_frame(frame);
        }

        rs2_release_frame(frames);
    }

    // Stop the pipeline streaming
    rs2_pipeline_stop(pipeline, &e);
    check_error(e);

    // Release resources
    free(buffer);
    rs2_delete_pipeline_profile(pipeline_profile);
    rs2_delete_stream_profiles_list(stream_profile_list);
    rs2_delete_stream_profile(stream_profile);
    rs2_delete_config(config);
    rs2_delete_pipeline(pipeline);
    rs2_delete_device(dev);
    rs2_delete_device_list(device_list);
    rs2_delete_context(ctx);

    return EXIT_SUCCESS;
}