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C++ Sample Multi Stream
Orbbec Gemini 330 Series Documentation

C++ Sample Multi Stream

Update on 2025-07-25 07:11:45

Function description: This example mainly demonstrates the operation of opening multiple sensor streams simultaneously using device, displaying multiple stream images, and exiting the program through the ESC_KEY key

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

Firstly, you need to create a pipeline

ob::Pipeline pipe;

Enumerate devices and perform stream configuration

// 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);
}

Enable pipeline through configuration

// 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 get 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();
}

Close pipeline

pipe.stop();

Close IMU pipeline

imuPipeline->stop();

Expected Output

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