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C++ Sample Sync Align Viewer
Orbbec Gemini 330 Series Documentation

C++ Sample Sync Align Viewer

Update on 2025-07-25 07:03:10

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

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