72 lines
2.6 KiB
C++
72 lines
2.6 KiB
C++
// Copyright (c) Orbbec Inc. All Rights Reserved.
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// Licensed under the MIT License.
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#include <libobsensor/ObSensor.hpp>
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#include "utils.hpp"
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#include "utils_opencv.hpp"
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#include <thread>
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int main(void) try {
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// Create a pipeline with default device.
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ob::Pipeline pipe;
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// By creating config to configure which streams to enable or disable for the pipeline, here the depth stream will be enabled.
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std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
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// This is the default depth streamprofile that is enabled. If you want to modify it, you can do so in the configuration file.
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config->enableVideoStream(OB_STREAM_DEPTH);
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// Start the pipeline with config.
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pipe.start(config);
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// Create a window for rendering, and set the resolution of the window.
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ob_smpl::CVWindow win("Depth");
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while(win.run()) {
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// Wait for up to 100ms for a frameset in blocking mode.
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auto frameSet = pipe.waitForFrameset(100);
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if(frameSet == nullptr) {
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continue;
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}
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// Get the depth frame raw from frameset.
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auto depthFrameRaw = frameSet->getFrame(OB_FRAME_DEPTH);
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if(!depthFrameRaw) {
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continue;
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}
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// Get the depth Frame form depthFrameRaw.
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auto depthFrame = depthFrameRaw->as<ob::DepthFrame>();
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// for Y16 format depth frame, print the distance of the center pixel every 30 frames.
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if(depthFrame->getIndex() % 30 == 0 && depthFrame->getFormat() == OB_FORMAT_Y16) {
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uint32_t width = depthFrame->getWidth();
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uint32_t height = depthFrame->getHeight();
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float scale = depthFrame->getValueScale();
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const uint16_t *data = reinterpret_cast<const uint16_t *>(depthFrame->getData());
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// pixel value multiplied by scale is the actual distance value in millimeters.
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float centerDistance = data[width * height / 2 + width / 2] * scale;
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// // attention: if the distance is 0, it means that the depth camera cannot detect the object (may be out of detection range).
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win.addLog("Facing an object at a distance of " + ob_smpl::toString(centerDistance, 3) + " mm. ");
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}
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// Render frame in the window.
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win.pushFramesToView(depthFrame);
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}
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// Stop the pipeline
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pipe.stop();
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return 0;
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}
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catch(ob::Error &e) {
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std::cerr << "function:" << e.getFunction() << "\nargs:" << e.getArgs() << "\nmessage:" << e.what() << "\ntype:" << e.getExceptionType() << std::endl;
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std::cout << "\nPress any key to exit.";
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ob_smpl::waitForKeyPressed();
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exit(EXIT_FAILURE);
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}
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