Caution

• The variables such as pDeviceInfo used in this article are defined as global variables. For details, refer to: Initialization to Streaming

Registering Event Notification to Acquire Data Frames

Creating a Frame Data Notification Class

class FrameObserver : public Synexens::ISYFrameObserver
{
public:
    virtual void OnFrameNotify(unsigned int nDeviceID, Synexens::SYFrameData* pFrameData = nullptr)
    {
        ProcessFrameData(nDeviceID, pFrameData);
    }
};
FrameObserver g_FrameObserver;

Registering Frame Data Notification

// registration frame data notification
errorCode = Synexens::RegisterFrameObserver(&g_FrameObserver);
if (errorCode == Synexens::SYERRORCODE_SUCCESS)
{
    PrintCodeInfo("RegisterFrameObserver Success", errorCode);
}
else 
{
    PrintCodeInfo("RegisterFrameObserver Failed", errorCode);
}

Polling Request Interface to Acquire Data Frames

while (1) 
{
    for (int nDeviceIndex = 0; nDeviceIndex < nDeviceCount; nDeviceIndex++)
    {
        Synexens::SYFrameData* pLastFrameData = nullptr;
        errorCode = Synexens::GetLastFrameData(pDeviceInfo[nDeviceIndex].m_nDeviceID, pLastFrameData);
        if (errorCode == Synexens::SYERRORCODE_SUCCESS)
        {
            // getLastFrameData Success
            ProcessFrameData(pDeviceInfo[nDeviceIndex].m_nDeviceID, pLastFrameData);
        }
        else
        {
            // getLatsFrameData failed
        }
    }

    std::this_thread::sleep_for(std::chrono::milliseconds(5));
}

The loop sleep time is customizable, not recommended to exceed 20ms

Processing Frame Data

Frame Data Structure

//Data frame
struct SYFrameData
{
    //Number of frames
    int m_nFrameCount = 0;
    //Frame information
    SYFrameInfo* m_pFrameInfo = nullptr;
    //Frame data
    void* m_pData = nullptr;
    //Data length
    int m_nBuffferLength = 0;
};

//Frame information
struct SYFrameInfo
{
    //Frame type
    SYFrameType m_frameType = SYFRAMETYPE_NULL;
    //Height (pixels)
    int m_nFrameHeight = 0;
    //Width (pixels)
    int m_nFrameWidth = 0;
};

SYFrameData:

Number of data frames - How many data frames are there currently

Frame information - The type, width, and height of the current data frame

Frame data - All data of the current frame

Data length - The length of the current data frame

SYFrameInfo:

Frame type - The type of the current data frame (depth, rgb, raw, ir)

Height (pixels) - The height of the current data frame

Width (pixels) - The width of the current data frame

Processing Data

// processing frame data
void ProcessFrameData(unsigned int nDeviceID, Synexens::SYFrameData* pFrameData = nullptr) 
{
    auto itStreamFind = g_mapStreamType.find(nDeviceID);
    auto itStreamOpen = g_mapDeviceOpen.find(nDeviceID);
    if (itStreamFind == g_mapStreamType.end() || (itStreamOpen == g_mapDeviceOpen.end() || itStreamOpen->second != true) )
    {
        return;
    }
    
    // RGBD processing logic 
    if (itStreamFind->second == Synexens::SYSTREAMTYPE_RGBD)
    {
        std::map<Synexens::SYFrameType, int> mapIndex;
        std::map<Synexens::SYFrameType, int> mapPos;

        int nPos = 0;
        for (int nFrameIndex = 0; nFrameIndex < pFrameData->m_nFrameCount; nFrameIndex++)
        {
            mapIndex.insert(std::pair<Synexens::SYFrameType, int>(pFrameData->m_pFrameInfo[nFrameIndex].m_frameType, nFrameIndex));
            mapPos.insert(std::pair<Synexens::SYFrameType, int>(pFrameData->m_pFrameInfo[nFrameInfo[nFrameIndex].m_frameType, nPos]);
            nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
        }
        auto itDepthIndex = mapIndex.find(Synexens::SYFRAMETYPE_DEPTH);
        auto itRGBIndex = mapIndex.find(Synexens::SYFRAMETYPE_RGB);
        int nRGBDWidth = pFrameData->m_pFrameInfo[itRGBIndex->second].m_nFrameWidth;
        int nRGBDHeight = pFrameData->m_pFrameInfo[itRGBIndex->second].m_nFrameHeight;
        unsigned short* pRGBDDepth = new unsigned short[nRGBDWidth * nRGBDHeight];
        memset(pRGBDDepth, 0, sizeof(unsigned short) * nRGBDWidth * nRGBDHeight);
        unsigned char* pRGBDRGB = new unsigned char[nRGBDWidth * nRGBDHeight * 3];
        memset(pRGBDRGB, 0, sizeof(unsigned char) * nRGBDWidth * nRGBDHeight * 3);
        Synexens::SYErrorCode errorCode = Synexens::GetRGBD(nDeviceID, 
            pFrameData->m_pFrameInfo[itDepthIndex->second].m_nFrameWidth, 
            pFrameData->m_pFrameInfo[itDepthIndex->second].m_nFrameHeight,  
            (unsigned short*)pFrameData->m_pData + mapPos[Synexens::SYFRAMETYPE_DEPTH],
            pFrameData->m_pFrameInfo[itRGBIndex->second].m_nFrameWidth, 
            pFrameData->m_pFrameInfo[itRGBIndex->second].m_nFrameHeight, 
            (unsigned char*)pFrameData->m_pData + mapPos[Synexens::SYFRAMETYPE_RGB],
            nRGBDWidth, 
            nRGBDHeight,
            pRGBDDepth, 
            pRGBDRGB);
        if (errorCode == Synexens::SYERRORCODE_SUCCESS)
        {
            // handle your own logic ...
            PrintCodeInfo("GetRGBD Success", errorCode);
        }
        else 
        {
            PrintCodeInfo("GetRGBD Failed", errorCode);
        }

        delete[] pRGBDDepth;
        delete[] pRGBDRGB;
    }
    else // other
    {
        int nPos = 0;
        for (int nFrameIndex = 0; nFrameIndex < pFrameData->m_nFrameCount; nFrameIndex++) 
        {
            switch (pFrameData->m_pFrameInfo[nFrameIndex].m_frameType)
            {
            case Synexens::SYFRAMETYPE_RAW:
            {
                // RawData pointer starting position =  pFrameData->m_pData + nPos  
                // RawData pointer end position = pFrameData->m_pData + pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short)

                // handle your own logic ...
                nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
                break;
            }
            case Synexens::SYFRAMETYPE_DEPTH:
            {
                // DepthData pointer starting position =  pFrameData->m_pData + nPos  
                // DepthData pointer end position = pFrameData->m_pData + pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short)
                nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
                break;
            }
            case Synexens::SYFRAMETYPE_IR:
            {
                // IrData pointer starting position =  pFrameData->m_pData + nPos  
                // IrData pointer end position = pFrameData->m_pData + pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short)

                // handle your own logic ...
                nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
                break;
            }
            case Synexens::SYFRAMETYPE_RGB:
           
 {
                // RGBData pointer starting position =  pFrameData->m_pData + nPos  
                // RGBData pointer end position = pFrameData->m_pData + pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short)

                // handle your own logic ...
                nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
                break;
            }
            }
        }
    }
}