Supported devices: G300 series cameras, such as Gemini G335
Function description: Demonstrate the synchronization and alignment of sensor data streams, display the aligned image, and exit the program using the ESC_KEY key
| This example is based on the C++high level API for demonstration
Create pipeline
ob::Pipeline pipe;
Enable color stream
auto colorProfiles = pipe.getStreamProfileList(OB_SENSOR_COLOR);
if(colorProfiles) {
colorProfile = colorProfiles->getVideoStreamProfile(1280, OB_HEIGHT_ANY, OB_FORMAT_RGB, 30);
}
config->enableStream(colorProfile);
Enable depth stream
auto depthProfiles = pipe.getStreamProfileList(OB_SENSOR_DEPTH);
std::shared_ptr<ob::VideoStreamProfile> depthProfile = nullptr;
if(depthProfiles) {
depthProfile = depthProfiles->getVideoStreamProfile(640, OB_HEIGHT_ANY, OB_FORMAT_Y16, 30);
//depthProfile = std::const_pointer_cast<ob::StreamProfile>(depthProfiles->getProfile(OB_PROFILE_DEFAULT))->as<ob::VideoStreamProfile>();
}
config->enableStream(depthProfile);
Set alignment mode
/* Config depth align to color or color align to depth.
OBStreamType align_to_stream = OB_STREAM_DEPTH; */
OBStreamType align_to_stream = OB_STREAM_COLOR;
ob::Align align(align_to_stream);
Open pipeline
pipe.start(config);
Get frame data
auto colorFrame = frameSet->colorFrame();
auto depthFrame = frameSet->depthFrame();
Perform alignment processing
aif(align_to_stream == OB_STREAM_COLOR) {
app.resize(colorFrame->width(), colorFrame->height());
}
else {
app.resize(depthFrame->width(), depthFrame->height());
}
Close pipeline
pipe.stop();
Expected Output
