int main(int argc, char* argv[])
{
set_key_handler();
astra_initialize();
astra_streamsetconnection_t sensor;
astra_streamset_open("device/default", &sensor);
astra_reader_t reader;
astra_reader_create(sensor, &reader);
astra_depthstream_t depthStream;
astra_reader_get_depthstream(reader, &depthStream);
float hFov, vFov;
astra_depthstream_get_hfov(depthStream, &hFov);
astra_depthstream_get_vfov(depthStream, &vFov);
printf("depth sensor -- hFov: %f radians vFov: %f radians\n", hFov, vFov);
astra_stream_start(depthStream);
astra_frame_index_t lastFrameIndex = -1;
do
{
astra_temp_update();
astra_reader_frame_t frame;
astra_status_t rc = astra_reader_open_frame(reader, 0, &frame);
if (rc == ASTRA_STATUS_SUCCESS)
{
astra_depthframe_t depthFrame;
astra_frame_get_depthframe(frame, &depthFrame);
astra_frame_index_t newFrameIndex;
astra_depthframe_get_frameindex(depthFrame, &newFrameIndex);
if (lastFrameIndex == newFrameIndex)
{
printf("duplicate frame index: %d\n", lastFrameIndex);
}
lastFrameIndex = newFrameIndex;
print_depth(depthFrame);
astra_reader_close_frame(&frame);
}
} while (shouldContinue);
astra_reader_destroy(&reader);
astra_streamset_close(&sensor);
astra_terminate();
}
inline astra_status_t initialize()
{
return astra_initialize();
}
