int main(int argc, char** argv)
{
if(!depth_open())
{
printf("Unable to open libkipr_link_depth_sensor\n");
return 1;
}
printf("Press the 'A' button for three seconds to stop\n");
while(a_button() == 0)
{
if(depth_update())
{
int x_center = depth_image_get_width() / 2;
int y_center = depth_image_get_height() / 2;
int depth_center = get_depth_value(x_center, y_center);
printf("Depth at(%d, %d) is %d\n", x_center, y_center, depth_center);
msleep(2000);
}
else
{
printf("No depth frame image yet\n");
msleep(2000);
}
}
depth_close();
return 0;
}
int main ()
{
camera_open();
depth_open();
while(!(a_button_clicked())){
camera_update();
depth_update();
display_clear();
printf("prepare succeeds");
}
return 0;
}
int main(int argc, char** argv)
{
if(!depth_open())
{
printf("Unable to open libkipr_link_depth_sensor\n");
return 1;
}
int depth_image_height = -1;
int depth_image_width = -1;
int mouse_x;
int mouse_y;
int last_max_depth = 6000 /* mm */;
int max_depth;
if(set_depth_camera_resolution(DEPTH_CAMERA_RESOLUTION_640_480) == 0)
{
printf("Failed to set the depth camera resolution to 640 x 480\n");
return 1;
}
#ifdef CAMERA_IS_UPSIDE_DOWN
if(set_depth_camera_orientation(DEPTH_CAMERA_ORIENTATION_UPSIDE_DOWN) == 0)
{
printf("Failed to set the depth camera orientation\n");
return 1;
}
#endif
printf("Press 'Q' to stop\n");
while(!get_key_state('Q'))
{
if(depth_update())
{
if(depth_image_height == -1)
{
// initialize the graphics output
depth_image_height = depth_image_get_height();
depth_image_width = depth_image_get_width();
graphics_open(depth_image_width, depth_image_height);
}
get_mouse_position(&mouse_x, &mouse_y);
max_depth = 0;
// display depth image
for(int y = 0; y < depth_image_height; y++)
{
for(int x = 0; x < depth_image_width; x++)
{
int depth = get_depth_value(x, y);
// save max depth
if(depth > max_depth)
{
max_depth = depth;
}
// color invalid depth pixel red
if((depth != INVALID_COORDINATE) && last_max_depth)
{
int r;
int g;
int b;
HSVtoRGB(360*0xFF*depth/last_max_depth, &r, &g, &b);
graphics_pixel(x, y, r, g, b);
}
else
{
graphics_pixel(x, y, 0xFF, 0xFF, 0xFF);
}
#ifdef SHOW_DEPTH_UNDER_MOUSE
if(mouse_x == x && mouse_y == y)
{
console_clear();
if(depth != INVALID_COORDINATE)
{
printf("(%d, %d): Depth: %d mm; World coordinate: (%d, %d, %d)\n", x, y, depth, get_world_x(x, y), get_world_y(x, y), get_world_z(x, y));
}
else
{
printf("(%d, %d): No information available\n", x, y);
}
}
#endif
}
}
last_max_depth = max_depth;
graphics_update();
}
else
{
printf("No depth image received yet\n");
msleep(2000);
}
}
graphics_close();
depth_close();
return 0;
}
