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rs-hello-realsense.cpp
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rs-hello-realsense.cpp
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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <iostream> // for cout
// Hello RealSense example demonstrates the basics of connecting to a RealSense device
// and taking advantage of depth data
int main(int argc, char * argv[]) try
{
// 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();
while (true)
{
// Block program until frames arrive
rs2::frameset frames = p.wait_for_frames();
// Try to get a frame of a depth image
rs2::depth_frame depth = frames.get_depth_frame();
// Get the depth frame's dimensions
auto width = depth.get_width();
auto height = depth.get_height();
// 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);
// Print the distance
std::cout << "The camera is facing an object " << dist_to_center << " meters away \r";
}
return EXIT_SUCCESS;
}
catch (const rs2::error & e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}