You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
53 lines
2.1 KiB
53 lines
2.1 KiB
2 months ago
|
# rs-hello-realsense Sample
|
||
|
|
|
||
|
|
## Overview
|
||
|
|
|
||
|
|
Hello RealSense example demonstrates the basics of connecting to a RealSense device and taking advantage of depth data by printing the distance to object in the center of camera feild of view.
|
||
|
|
|
||
|
|
## Expected Output
|
||
|
|
Assuming camera is connected you should see `"The camera is facing an object X meters away"` line being continously updated. X is the distance in meters to the object in the center of camera feild of view.
|
||
|
|
|
||
|
|
## Code Overview
|
||
|
|
|
||
|
|
First, we include the Intel® RealSense™ Cross-Platform API.
|
||
|
|
All but advanced functionality is provided through a single header:
|
||
|
|
```cpp
|
||
|
|
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
|
||
|
|
```
|
||
|
|
|
||
|
|
Next, we create and start RealSense pipeline. Pipeline is the primary high level primitive controlling camera enumeration and streaming.
|
||
|
|
```cpp
|
||
|
|
// Create a Pipeline - this serves as a top-level API for streaming and processing frames
|
||
|
|
rs2::pipeline p;
|
||
|
|
|
||
|
|
// Configure and start the pipeline
|
||
|
|
p.start();
|
||
|
|
```
|
||
|
|
Once pipeline is configured, we can loop waiting for new frames.
|
||
|
|
|
||
|
|
RealSense cameras usually offer multiple video, motion or pose streams. `wait_for_frames` function will block until next set of coherent frames from various configured streams.
|
||
|
|
```cpp
|
||
|
|
// Block program until frames arrive
|
||
|
|
rs2::frameset frames = p.wait_for_frames();
|
||
|
|
```
|
||
|
|
To get first frame from the depth data stream, you can use `get_depth_frame` helper function:
|
||
|
|
```
|
||
|
|
// Try to get a frame of a depth image
|
||
|
|
rs2::depth_frame depth = frames.get_depth_frame();
|
||
|
|
```
|
||
|
|
Next we query the default depth frame dimensions (these may differ from sensor to sensor):
|
||
|
|
```cpp
|
||
|
|
// Get the depth frame's dimensions
|
||
|
|
float width = depth.get_width();
|
||
|
|
float height = depth.get_height();
|
||
|
|
```
|
||
|
|
To get distance at specific pixel (center of the frame), you can use `get_distance` function:
|
||
|
|
```
|
||
|
|
// Query the distance from the camera to the object in the center of the image
|
||
|
|
float dist_to_center = depth.get_distance(width / 2, height / 2);
|
||
|
|
```
|
||
|
|
The only thing left is to print the resulting distance to the screen:
|
||
|
|
```cpp
|
||
|
|
// Print the distance
|
||
|
|
std::cout << "The camera is facing an object " << dist_to_center << " meters away \r";
|
||
|
|
```
|