text: // This file is part of the Orbbec Astra SDK [https://orbbec3d.com]
  // Copyright (c) 2015 Orbbec 3D
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  // http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  //
  // Be excellent to each other.
  #include <astra/capi/astra.h>
  #include <stdio.h>
  #include <key_handler.h>
  
  void print_color(astra_colorframe_t colorFrame)
  {
      astra_image_metadata_t metadata;
      astra_rgb_pixel_t* colorData_rgb;
  
      size_t colorByteLength;
  
      astra_colorframe_get_data_rgb_ptr(colorFrame, &colorData_rgb, &colorByteLength);
  
      astra_colorframe_get_metadata(colorFrame, &metadata);
  
      int width = metadata.width;
      int height = metadata.height;
      size_t index = ((width * (height / 2)) + (width / 2));
  
      astra_frame_index_t frameIndex;
      astra_colorframe_get_frameindex(colorFrame, &frameIndex);
  
      astra_rgb_pixel_t middle = colorData_rgb[index];
      printf("color frameIndex: %d  r: %d    g: %d    b: %d \n", frameIndex, (int)(middle.r), (int)(middle.g), (int)(middle.b));
  }
  
  
  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 colorStream;
      astra_reader_get_colorstream(reader, &colorStream);
  
      astra_stream_start(colorStream);
  
      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_colorframe_t colorFrame;
              astra_frame_get_colorframe(frame, &colorFrame);
  
              astra_frame_index_t newFrameIndex;
              astra_colorframe_get_frameindex(colorFrame, &newFrameIndex);
  
              if (lastFrameIndex == newFrameIndex)
              {
                  printf("duplicate frame index: %d\n", lastFrameIndex);
              }
              lastFrameIndex = newFrameIndex;
  
              print_color(colorFrame);
  
              astra_reader_close_frame(&frame);
          }
  
      } while (shouldContinue);
  
      astra_reader_destroy(&reader);
      astra_streamset_close(&sensor);
  
      astra_terminate();
  }
  