本快速入门指南将引导您通过使用Orbbec SDK 获取相机多路流。该文档参考了C++示例MultiStream。

先决条件

连接Orbbec设备。
下载并安装Orbbec SDK。

头文件

包含Orbbec SDK的主要头文件：

#include "window.hpp"

#include "libobsensor/hpp/Pipeline.hpp"
#include "libobsensor/hpp/Error.hpp"
#include <mutex>
#include <thread>

初始化Pipeline

    // Create a pipeline with default device
    ob::Pipeline pipe;

    // Configure which streams to enable or disable for the Pipeline by creating a Config
    std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();

配置流

根据设备上可用的sensor配置要启用哪些流。

    auto device     = pipe.getDevice();
    auto sensorList = device->getSensorList();
    for(int i = 0; i < sensorList->count(); i++) {
        auto sensorType = sensorList->type(i);
        if(sensorType == OB_SENSOR_GYRO || sensorType == OB_SENSOR_ACCEL) {
            continue;
        }
        auto profiles = pipe.getStreamProfileList(sensorType);
        auto profile  = profiles->getProfile(OB_PROFILE_DEFAULT);
        config->enableStream(profile);
    }

Start Pipeline

启动配置了视频流的Pipeline。

    // Start the pipeline with config
    std::mutex                                        frameMutex;
    std::map<OBFrameType, std::shared_ptr<ob::Frame>> frameMap;
    pipe.start(config, [&](std::shared_ptr<ob::FrameSet> frameset) {
        auto count = frameset->frameCount();
        for(int i = 0; i < count; i++) {
            auto                         frame = frameset->getFrame(i);
            std::unique_lock<std::mutex> lk(frameMutex);
            frameMap[frame->type()] = frame;
        }
    });

获取IMU 数据

由于 IMU 传感器帧率高，单独处理IMU数据。

   auto                                              dev         = pipe.getDevice();
    auto                                              imuPipeline = std::make_shared<ob::Pipeline>(dev);
    std::mutex                                        imuFrameMutex;
    std::map<OBFrameType, std::shared_ptr<ob::Frame>> imuFrameMap;
    try {
        auto                        accelProfiles = imuPipeline->getStreamProfileList(OB_SENSOR_ACCEL);
        auto                        gyroProfiles  = imuPipeline->getStreamProfileList(OB_SENSOR_GYRO);
        auto                        accelProfile  = accelProfiles->getProfile(OB_PROFILE_DEFAULT);
        auto                        gyroProfile   = gyroProfiles->getProfile(OB_PROFILE_DEFAULT);
        std::shared_ptr<ob::Config> imuConfig     = std::make_shared<ob::Config>();
        imuConfig->enableStream(accelProfile);
        imuConfig->enableStream(gyroProfile);
        imuPipeline->start(imuConfig, [&](std::shared_ptr<ob::FrameSet> frameset) {
            auto count = frameset->frameCount();
            for(int i = 0; i < count; i++) {
                auto                         frame = frameset->getFrame(i);
                std::unique_lock<std::mutex> lk(imuFrameMutex);
                imuFrameMap[frame->type()] = frame;
            }
        });
    }
    catch(...) {
        std::cout << "IMU sensor not found!" << std::endl;
        imuPipeline.reset();
    }

渲染帧

创建一个用于渲染收集到的帧的窗口：

    Window app("MultiStream", 1280, 720, RENDER_GRID);
    while(app) {
        std::vector<std::shared_ptr<ob::Frame>> framesForRender;
        {
            std::unique_lock<std::mutex> lock(frameMutex);
            for(auto &frame: frameMap) {
                framesForRender.push_back(frame.second);
            }
        }
        {
            std::unique_lock<std::mutex> lock(imuFrameMutex);
            for(auto &frame: imuFrameMap) {
                framesForRender.push_back(frame.second);
            }
        }
        app.addToRender(framesForRender);
    }

停止Pipeline

在应用程序关闭时正确停止Pipeline，以确保释放所有资源。

    pipe.stop();
    if(imuPipeline) {
        imuPipeline->stop();
    }

完整代码

这是一个完整应用程序的代码

#include "window.hpp"

#include "libobsensor/hpp/Pipeline.hpp"
#include "libobsensor/hpp/Error.hpp"
#include <mutex>
#include <thread>

int main(int argc, char **argv) try {
    // Create a pipeline with default device
    ob::Pipeline pipe;

    // Configure which streams to enable or disable for the Pipeline by creating a Config
    std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();

    // enumerate and config all sensors
    auto device     = pipe.getDevice();
    auto sensorList = device->getSensorList();
    for(int i = 0; i < sensorList->count(); i++) {
        auto sensorType = sensorList->type(i);
        if(sensorType == OB_SENSOR_GYRO || sensorType == OB_SENSOR_ACCEL) {
            continue;
        }
        auto profiles = pipe.getStreamProfileList(sensorType);
        auto profile  = profiles->getProfile(OB_PROFILE_DEFAULT);
        config->enableStream(profile);
    }

    // Start the pipeline with config
    std::mutex                                        frameMutex;
    std::map<OBFrameType, std::shared_ptr<ob::Frame>> frameMap;
    pipe.start(config, [&](std::shared_ptr<ob::FrameSet> frameset) {
        auto count = frameset->frameCount();
        for(int i = 0; i < count; i++) {
            auto                         frame = frameset->getFrame(i);
            std::unique_lock<std::mutex> lk(frameMutex);
            frameMap[frame->type()] = frame;
        }
    });

    // The IMU frame rate is much faster than the video, so it is advisable to use a separate pipeline to obtain IMU data.
    auto                                              dev         = pipe.getDevice();
    auto                                              imuPipeline = std::make_shared<ob::Pipeline>(dev);
    std::mutex                                        imuFrameMutex;
    std::map<OBFrameType, std::shared_ptr<ob::Frame>> imuFrameMap;
    try {
        auto                        accelProfiles = imuPipeline->getStreamProfileList(OB_SENSOR_ACCEL);
        auto                        gyroProfiles  = imuPipeline->getStreamProfileList(OB_SENSOR_GYRO);
        auto                        accelProfile  = accelProfiles->getProfile(OB_PROFILE_DEFAULT);
        auto                        gyroProfile   = gyroProfiles->getProfile(OB_PROFILE_DEFAULT);
        std::shared_ptr<ob::Config> imuConfig     = std::make_shared<ob::Config>();
        imuConfig->enableStream(accelProfile);
        imuConfig->enableStream(gyroProfile);
        imuPipeline->start(imuConfig, [&](std::shared_ptr<ob::FrameSet> frameset) {
            auto count = frameset->frameCount();
            for(int i = 0; i < count; i++) {
                auto                         frame = frameset->getFrame(i);
                std::unique_lock<std::mutex> lk(imuFrameMutex);
                imuFrameMap[frame->type()] = frame;
            }
        });
    }
    catch(...) {
        std::cout << "IMU sensor not found!" << std::endl;
        imuPipeline.reset();
    }

    // Create a window for rendering and set the resolution of the window
    Window app("MultiStream", 1280, 720, RENDER_GRID);
    while(app) {
        std::vector<std::shared_ptr<ob::Frame>> framesForRender;
        {
            std::unique_lock<std::mutex> lock(frameMutex);
            for(auto &frame: frameMap) {
                framesForRender.push_back(frame.second);
            }
        }
        {
            std::unique_lock<std::mutex> lock(imuFrameMutex);
            for(auto &frame: imuFrameMap) {
                framesForRender.push_back(frame.second);
            }
        }
        app.addToRender(framesForRender);
    }

    // Stop the Pipeline, no frame data will be generated
    pipe.stop();
    if(imuPipeline) {
        imuPipeline->stop();
    }
    return 0;
}
catch(ob::Error &e) {
    std::cerr << "function:" << e.getName() << "\nargs:" << e.getArgs() << "\nmessage:" << e.getMessage() << "\ntype:" << e.getExceptionType() << std::endl;
    exit(EXIT_FAILURE);
}

下一步

-了解如何使用Orbbec SDK配置和使用单个传感器。

-探索 Orbbec SDK 文档中提供的高级功能和设置。

-开始将 Orbbec 设备功能集成到您的大型项目和应用程序中。