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79 lines
2.6 KiB
79 lines
2.6 KiB
// License: Apache 2.0. See LICENSE file in root directory.
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// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
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#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
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#include <iostream>
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#include <map>
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#include <chrono>
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#include <mutex>
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#include <thread>
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// The callback example demonstrates asynchronous usage of the pipeline
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int main(int argc, char * argv[]) try
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{
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//rs2::log_to_console(RS2_LOG_SEVERITY_ERROR);
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std::map<int, int> counters;
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std::map<int, std::string> stream_names;
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std::mutex mutex;
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// Define frame callback
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// The callback is executed on a sensor thread and can be called simultaneously from multiple sensors
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// Therefore any modification to common memory should be done under lock
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auto callback = [&](const rs2::frame& frame)
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{
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std::lock_guard<std::mutex> lock(mutex);
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if (rs2::frameset fs = frame.as<rs2::frameset>())
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{
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// With callbacks, all synchronized stream will arrive in a single frameset
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for (const rs2::frame& f : fs)
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counters[f.get_profile().unique_id()]++;
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}
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else
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{
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// Stream that bypass synchronization (such as IMU) will produce single frames
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counters[frame.get_profile().unique_id()]++;
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}
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};
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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 through the callback with default recommended configuration
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// The default video configuration contains Depth and Color streams
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// If a device is capable to stream IMU data, both Gyro and Accelerometer are enabled by default
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//
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rs2::pipeline_profile profiles = pipe.start(callback);
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// Collect the enabled streams names
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for (auto p : profiles.get_streams())
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stream_names[p.unique_id()] = p.stream_name();
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std::cout << "RealSense callback sample" << std::endl << std::endl;
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while (true)
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{
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std::this_thread::sleep_for(std::chrono::seconds(1));
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std::lock_guard<std::mutex> lock(mutex);
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std::cout << "\r";
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for (auto p : counters)
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{
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std::cout << stream_names[p.first] << "[" << p.first << "]: " << p.second << " [frames] || ";
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}
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}
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return EXIT_SUCCESS;
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}
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catch (const rs2::error & e)
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{
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std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
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return EXIT_FAILURE;
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}
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catch (const std::exception& e)
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{
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std::cerr << e.what() << std::endl;
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return EXIT_FAILURE;
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}
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