Function description: This example demonstrates the operation of aligning Sensor data stream control, displaying the aligned image, and exiting the program through the ESC_KEY key
| This example is based on the C++High Level API for demonstration
Firstly, it is necessary to create a pipeline, through which multiple types of streams can be easily opened and closed, and a set of frame data can be obtained
ob::Pipeline pipe;
Get all stream configurations for color and depth cameras, including stream resolution, frame rate, and frame format
std::shared_ptr<ob::VideoStreamProfile> colorProfile = nullptr;
try {
// Get all stream profiles of the color camera, including stream resolution, frame rate, and frame format
auto colorProfiles = pipe.getStreamProfileList(OB_SENSOR_COLOR);
if(colorProfiles) {
colorProfile = std::const_pointer_cast<ob::StreamProfile>(colorProfiles->getProfile(OB_PROFILE_DEFAULT))->as<ob::VideoStreamProfile>();
}
config->enableStream(colorProfile);
}
catch(...) {
std::cerr << "Current device is not support color sensor!" << std::endl;
exit(EXIT_FAILURE);
}
// Get all stream profiles of the depth camera, including stream resolution, frame rate, and frame format
auto depthProfiles = pipe.getStreamProfileList(OB_SENSOR_DEPTH);
std::shared_ptr<ob::VideoStreamProfile> depthProfile = nullptr;
if(depthProfiles) {
depthProfile = std::const_pointer_cast<ob::StreamProfile>(depthProfiles->getProfile(OB_PROFILE_DEFAULT))->as<ob::VideoStreamProfile>();
}
config->enableStream(depthProfile);
Configure which streams to enable or disable in the Pipeline by creating a Configuration, where color and depth streams will be enabled
std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
config->enableStream(colorProfile);
config->enableStream(depthProfile);
Control stream alignment, turn on software alignment here
// Configure alignment mode to software D2C alignment
config->setAlignMode(ALIGN_D2C_SW_MODE);
Start the stream configured in Configuration. If no parameters are passed, the default configuration startup stream will be started
pipe.start(config);
Stop Pipeline, no more frame data will be generate
pipe.stop();
After the program exits normally, resources will be automatically released
Expected Output
