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Examples Code for Orbbec cameras

Introduction

There are several examples codes for users learn how to use Orbbec cameras. Here is a brief introduction to each sample code:

Level Sample Description
basic quick_start Quick show how to use the SDK to get frames from the Orbbec RGB-D camera device.
basic enumerate Use the SDK interface to obtain camera-related information, including model, various sensors, and sensor-related configurations.
stream depth Use the SDK interface to obtain the depth stream of the camera and display it in the window.
stream color Use the SDK interface to obtain the camera's color stream and display it in the window.
stream infrared Use the SDK interface to obtain the camera IR stream and display it in the window.
stream imu Use the SDK interface to obtain the camera's internal imu data and output it
stream multi_streams Use SDK to obtain multiple camera data streams and output them.
stream callback In this sample, users can obtain depth, RGB, and IR images. This sample also supports performing user-defined operations such as data acquisition, data processing, and data modification within the callback function.
device control The SDK can be used to modify camera-related parameters, including laser switch, laser level intensity, white balance switch, etc.
device hot_plugin Use SDK to handle the settings of device unplug callback and process the acquired code stream after unplugging.
advanced sync_align Use the SDK interface to demonstrate the synchronization and alignment of sensor data streams, display the aligned image.
advanced hw_d2c_align Use the SDK interface to demonstrate the application of hardware depth-to-color alignment.
advanced post_processing Use the SDK interface to  demonstrate post-processing operations, display post-processed images.
advanced point_cloud Connect the device to open the stream, generate a depth point cloud or RGBD point cloud and save it as a ply format file.
advanced preset Use the SDK interface to set and get the preset value.
advanced coordinate_transform Use the SDK interface to transform different coordinate systems.
advanced hdr In this sample, user can get the HDR merge image. Also supports user to toggle HDR merge and toggle alternate show origin frame.
advanced multi_devices In this sample, users can connect multiple camera devices and get color and depth images of different cameras.
advanced common_usages Use SDK to handle the settings of device unplug callback and process the acquired code stream after unplugging.

C language examples

The listed examples at previous section are written in C++ language. Here is a brief introduction to c language examples:

Level Sample Description
basic c_quick_start This is a quick start guide to start device streams using the Orbbec SDK C API.
stream c_enumerate This is a enumerate guide to get device streams profile information using the Orbbec SDK C API.
stream c_depth This is a depth guide to get depth stream and depth image by using the Orbbec SDK C API.

Append

The utils functions and classes used in the examples code

utils

It contains functions to wait for a key press with an optional timeout, get the current time in milliseconds, and parse the input option from a key press event.This is done with C++.

utils_c

It contains functions to get the current system timestamp and wait for keystrokes from the user, as well as a macro to check for and handle errors. These capabilities can be used in scenarios such as time measurement, user interaction, and error handling.This is done with C.

utils_opencv

The CVWindow class includes the following main functionalities:

The CVWindow class leverages OpenCV to create a flexible and customizable graphical interface for displaying and managing camera frames.

Window Creation:

  • The constructor accepts the window name, width, and height as parameters, along with an optional - arrangement mode (ArrangeMode).
  • The arrangement modes include single frame display, displaying multiple frames in a row, displaying multiple frames in a column, grid display, and overlay display.

Image Frame Display and Processing:

  • The pushFramesToView method is used to push a set or multiple sets of image frames to the window.
  • There is an internal thread processThread_ for processing image frames.
  • The arrangeFrames method arranges the image frames based on the selected arrangement mode.
  • The visualize and drawInfo methods are used to draw additional information on the images.

User Interaction:

  • The setKeyPressedCallback method sets a key press callback function.
  • The setKeyPrompt method sets a prompt message.
  • The addLog method adds a log message.

Configuration and State Management:

  • The setShowInfo method controls whether frame information should be displayed.
  • The setAlpha set alpha for OVERLAY render mode
  • The resize method adjusts the window size.
  • The close method closes the window.
  • The reset method clears the cached frames and image matrices.

The Error Handling in the examples code

When using the Orbbec SDK, if an error occurs, the SDK reports the error by throwing an exception of type ob::Error. The ob::Error exception class typically contains detailed information about the error, which can help developers diagnose the problem. The example uses a 'try' block to wrap the entire main function.If an exception of type ob::Error is thrown, the program will catch it and print the error message to the console. Here is the information that can be obtained from an ob::Error:

Function Name (getFunction()): Indicates the name of the function where the exception was thrown. This helps pinpoint the location of the error within the code.

Arguments (getArgs()): Provides information about the arguments passed to the function when the exception occurred. This context can be useful for understanding the specific conditions under which the error happened.

Error Message (what()): Returns a string describing the nature of the error. This is often the most important piece of information, as it directly explains what went wrong.

Exception Type (getExceptionType()): Specifies the type of the exception. This can help categorize the error and determine appropriate handling strategies.Read the comments of the OBExceptionType enum in the libobsensor/h/ObTypes.h file for more information.

Example Code in C++

catch(ob::Error &e) {
    std::cerr << "function: " << e.getFunction() << std::endl;
    std::cerr << "args: " << e.getArgs() << std::endl;
    std::cerr << "message: " << e.what() << std::endl;
    std::cerr << "type: " << e.getExceptionType() << std::endl;
    exit(EXIT_FAILURE);
}