gistfile1.cpp

// ConsoleApplication2.cpp : Defines the entry point for the console application.
//

#include "stdafx.h"
#include <pxcsensemanager.h>
#include <util_render.h>

int _tmain(int argc, _TCHAR* argv[])
{
		// create the PXCSenseManager
		PXCSenseManager *psm = 0;
		psm = PXCSenseManager::CreateInstance();

		if (!psm) {
			wprintf_s(L"Unable to create the PXCSenseManager\n");
			return 1;
		}

		//connect to all lenses/streams of camera
		//(PXCCapture::StreamType, width=0, height=0, frameRate=0);
		psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR);
		psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH);
		psm->EnableStream(PXCCapture::STREAM_TYPE_IR);

		// Manager initializing
		psm->Init();

		//natural representation like in a mirror 
		psm->QueryCaptureManager()->QueryDevice()->SetMirrorMode(PXCCapture::Device::MirrorMode::MIRROR_MODE_HORIZONTAL);

		//renderer(L"NAME OF THE WINDOW")
		UtilRender renderColor(L"color"), renderDepth(L"depth"), renderIR(L"ir");

		while (true) {
			//trying to get a frame (true - synchronize all streams) (false - show them as they come)
			if (psm->AcquireFrame(true) < PXC_STATUS_NO_ERROR) break;

			//retrieve sample
			PXCCapture::Sample *sample = psm->QuerySample();
			if (sample) {
				//render frame in the window
				if (!renderColor.RenderFrame(sample->color)) break;
				if (!renderDepth.RenderFrame(sample->depth)) break;
				if (!renderIR.RenderFrame(sample->ir)) break;
			}
			
			psm->ReleaseFrame();
		}


		
		// close the streams (if any) and release any session and processing module instances
		psm->Release();
		return 0;
}