init

VideoProsessing/OrbbecSDK_v2.5.5/examples/src/1.stream.depth/depth.cpp

@@ -0,0 +1,71 @@
+// Copyright (c) Orbbec Inc. All Rights Reserved.
+// Licensed under the MIT License.
+
+#include <libobsensor/ObSensor.hpp>
+
+#include "utils.hpp"
+#include "utils_opencv.hpp"
+
+#include <thread>
+
+int main(void) try {
+
+    // Create a pipeline with default device.
+    ob::Pipeline pipe;
+
+    // By creating config to configure which streams to enable or disable for the pipeline, here the depth stream will be enabled.
+    std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
+
+    // This is the default depth streamprofile that is enabled. If you want to modify it, you can do so in the configuration file.
+    config->enableVideoStream(OB_STREAM_DEPTH);
+
+    // Start the pipeline with config.
+    pipe.start(config);
+
+    // Create a window for rendering, and set the resolution of the window.
+    ob_smpl::CVWindow win("Depth");
+
+    while(win.run()) {
+        // Wait for up to 100ms for a frameset in blocking mode.
+        auto frameSet = pipe.waitForFrameset(100);
+        if(frameSet == nullptr) {
+            continue;
+        }
+
+        // Get the depth frame raw from frameset.
+        auto depthFrameRaw = frameSet->getFrame(OB_FRAME_DEPTH);
+        if(!depthFrameRaw) {
+            continue;
+        }
+
+        // Get the depth Frame form depthFrameRaw.
+        auto depthFrame = depthFrameRaw->as<ob::DepthFrame>();
+        // for Y16 format depth frame, print the distance of the center pixel every 30 frames.
+        if(depthFrame->getIndex() % 30 == 0 && depthFrame->getFormat() == OB_FORMAT_Y16) {
+            uint32_t        width  = depthFrame->getWidth();
+            uint32_t        height = depthFrame->getHeight();
+            float           scale  = depthFrame->getValueScale();
+            const uint16_t *data   = reinterpret_cast<const uint16_t *>(depthFrame->getData());
+
+            // pixel value multiplied by scale is the actual distance value in millimeters.
+            float centerDistance = data[width * height / 2 + width / 2] * scale;
+
+            // // attention: if the distance is 0, it means that the depth camera cannot detect the object (may be out of detection range).
+            win.addLog("Facing an object at a distance of " + ob_smpl::toString(centerDistance, 3) + " mm. ");
+        }
+
+        // Render frame in the window.
+        win.pushFramesToView(depthFrame);
+    }
+
+    // Stop the pipeline
+    pipe.stop();
+
+    return 0;
+}
+catch(ob::Error &e) {
+    std::cerr << "function:" << e.getFunction() << "\nargs:" << e.getArgs() << "\nmessage:" << e.what() << "\ntype:" << e.getExceptionType() << std::endl;
+    std::cout << "\nPress any key to exit.";
+    ob_smpl::waitForKeyPressed();
+    exit(EXIT_FAILURE);
+}