extern "C" JNIEXPORT jlong JNICALL
Java_com_intel_realsense_librealsense_FrameSet_nExtractFrame(JNIEnv *env, jclass type,
jlong handle, jint index) {
rs2_error *e = NULL;
rs2_frame *rv = rs2_extract_frame(reinterpret_cast<rs2_frame *>(handle), index, &e);
handle_error(env, e);
return reinterpret_cast<jlong>(rv);
}
JNIEXPORT jlong JNICALL Java_org_librealsense_Native_rs2ExtractFrame
(JNIEnv *env, jclass, jlong framesAddr, jint index) {
rs2_error *error = NULL;
rs2_frame* frames = (rs2_frame*) framesAddr;
rs2_frame* frame = rs2_extract_frame(frames, index, &error);
checkErrors(env, error);
return (jlong)frame;
}
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 retunred 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);
}
char buffer[BUFFER_SIZE];
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 retunred object should be released with rs2_release_frame(...)
rs2_frame* frames = rs2_pipeline_wait_for_frames(pipeline, 5000, &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))
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 coverage[ROW_LENGTH] = { 0 }, x, y, i;
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);
rs2_release_frame(frame);
}
rs2_release_frame(frames);
}
// Stop the pipeline streaming
rs2_pipeline_stop(pipeline, &e);
check_error(e);
// Release resources
rs2_delete_pipeline_profile(pipeline_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;
}
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);
// 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 retunred 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);
}
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 retunred object should be released with rs2_release_frame(...)
rs2_frame* frames = rs2_pipeline_wait_for_frames(pipeline, 5000, &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))
continue;
// Get the depth frame's dimensions
int width = rs2_get_frame_width(frame, &e);
check_error(e);
int height = rs2_get_frame_height(frame, &e);
check_error(e);
// Query the distance from the camera to the object in the center of the image
float dist_to_center = rs2_depth_frame_get_distance(frame, width / 2, height / 2, &e);
check_error(e);
// Print the distance
printf("The camera is facing an object %.3f meters away.\n", dist_to_center);
rs2_release_frame(frame);
}
rs2_release_frame(frames);
}
// Stop the pipeline streaming
rs2_pipeline_stop(pipeline, &e);
check_error(e);
// Release resources
rs2_delete_pipeline_profile(pipeline_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;
}
