C Sample Hdr Merge

Supported devices: G300 series cameras, such as Gemini G335

Function description: Demonstrate using HDR operation, display HDR processed images, and exit the program with ESC_KEY key

| This example is based on the C High Level API for demonstration

Create a pipeline, configure depth and IR stream

// Create a pipeline to open the depth stream after connecting the device
pipeline = ob_create_pipeline(&error);
check_error(error);

// Create config to configure the resolution, frame rate, and format of the depth stream
ob_config *config = ob_create_config(&error);
check_error(error);

// Configure the depth stream
ob_stream_profile      *depth_profile = NULL;
ob_stream_profile_list *profiles      = ob_pipeline_get_stream_profile_list(pipeline, OB_SENSOR_DEPTH, &error);
check_error(error);

// Find the corresponding profile according to the specified format, first look for the y16 format
depth_profile = ob_stream_profile_list_get_video_stream_profile(profiles, 640, OB_HEIGHT_ANY, OB_FORMAT_Y16, 30, &error);
// If the specified format is not found, search for the default profile to open the stream
if(error) {
    depth_profile = ob_stream_profile_list_get_profile(profiles, OB_PROFILE_DEFAULT, &error);
    ob_delete_error(error);
    error = nullptr;
}

// enable stream
ob_config_enable_stream(config, depth_profile, &error);
check_error(error);

// Configure the infrared stream
// Please adjust the sensor according to the actual product, some device types only have OB_SENSOR_IR_LEFT and OB_SENSOR_IR_RIGHT.
ob_stream_profile *     ir_profile = NULL;
ob_stream_profile_list *ir_profiles   = ob_pipeline_get_stream_profile_list(pipeline, OB_SENSOR_IR_LEFT, &error);
check_error(error);

if(profiles == nullptr) {
    printf(
        "The obtained IR resolution list is NULL. For binocular structured light devices, try using the doubleIr example to turn on the ir data stream. ");
    return 0;
}

// Find the corresponding profile according to the specified format, first look for the y16 format
ir_profile = ob_stream_profile_list_get_video_stream_profile(ir_profiles, 640, OB_HEIGHT_ANY, OB_FORMAT_Y8, 30, &error);
// If the specified format is not found, search for the default profile to open the stream
if(error) {
    ir_profile = ob_stream_profile_list_get_profile(profiles, OB_PROFILE_DEFAULT, &error);
    ob_delete_error(error);
    error = nullptr;
}

// enable stream
ob_config_enable_stream(config, ir_profile, &error);
check_error(error);

Get device

// Get the device through the pipeline
ob_device *dev = ob_pipeline_get_device(pipeline, &error);
check_error(error);

Open HDR processing

// Create HdrMerage post processor
ob_filter *hdr_merge_filter = ob_create_hdr_merge(&error);
check_error(error);

bool is_supported = ob_device_is_property_supported(dev, OB_STRUCT_DEPTH_HDR_CONFIG, OB_PERMISSION_READ_WRITE, &error);
check_error(error);
// open hdr merage
if(is_supported) {
    // Get depth exposure value range,the exposure_1 and exposure_2 in OBHdrConfig can be adjusted.
    ob_int_property_range depth_exp_range = ob_device_get_int_property_range(dev, OB_PROP_DEPTH_EXPOSURE_INT, &error);
    check_error(error);

    // Get depth gain value range,,the gain_1 and gain_1 in OBHdrConfig can be adjusted.
    ob_int_property_range depth_gain_range = ob_device_get_int_property_range(dev, OB_PROP_DEPTH_GAIN_INT, &error);
    check_error(error);

    ob_hdr_config hdr_config;
    uint32_t      dataSize = sizeof(ob_hdr_config);
    ob_device_get_structured_data(dev, OB_STRUCT_DEPTH_HDR_CONFIG, &hdr_config, &dataSize, &error);
    check_error(error);
    // open hdr
    hdr_config.enable = true;

    ob_device_set_structured_data(dev, OB_STRUCT_DEPTH_HDR_CONFIG, &hdr_config, dataSize, & error);
    check_error(error);
}

Open pipeline

ob_pipeline_start_with_config(pipeline, config, &error);

Get HDR processed images

auto new_frame_set = ob_filter_process(hdr_merge_filter, frameset, &error);
check_error(error);

auto new_depth_frame = ob_frameset_depth_frame(new_frame_set, &error);
check_error(error);
if(new_depth_frame != nullptr) {
    frames.push_back(new_depth_frame);
}

Stop pipeline

ob_pipeline_stop(pipeline, &error);

Expected Output