C Sample Post Processing

Supported devices: G300 series cameras, such as Gemini G335

Function description: Demonstrate the use of post-processing operations, display post-processing images, and exit the program using the ESC_KEY key

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

Create a pipeline for stream configuration

// 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);

Get sensors

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

// Get depth sensor
ob_sensor *depthSensor = ob_device_get_sensor(device, OB_SENSOR_DEPTH, &error);
check_error(error);

Get post-processing list

ob_filter_list *filterList = ob_sensor_get_recommended_filter_list(depthSensor, &error);
check_error(error);

Post processing

ob_frame *depth_frame = ob_frameset_depth_frame(frameset, &error);
check_error(error);

if(depth_frame != nullptr) {
    for(uint32_t i = 0; i < count; i++) {
        ob_frame * new_depth_frame = nullptr;
        ob_filter *obFilter = filters[i];
        bool enable = ob_filter_is_enable(obFilter, &error);
        check_error(error);
        if(enable) {
            new_depth_frame = ob_filter_process(obFilter, depth_frame, &error);
            check_error(error);

            ob_delete_frame(depth_frame, &error);
            check_error(error);

            depth_frame = new_depth_frame;
        }
    }
}

Release relevant resources

for(uint32_t i = 0; i < count; i++) {
    ob_filter *obFilter = filters[i];
    ob_delete_filter(obFilter, &error);
    check_error(error);
}

// destroy profile filterList
ob_delete_filter_list(filterList, &error);
check_error(error);

// stop the pipeline
ob_pipeline_stop(pipeline, &error);
check_error(error);

// destroy the window
delete win;

// destroy profile
ob_delete_stream_profile(depth_profile, &error);
check_error(error);

// destroy profile list
ob_delete_stream_profile_list(profiles, &error);
check_error(error);

// destroy the pipeline
ob_delete_pipeline(pipeline, &error);
check_error(error);

Expected Output