// 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;
}