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C++ Sample Multi Device
Orbbec Gemini 330 Series Documentation

C++ Sample Multi Device

Update on 2025-07-25 07:13:48

Function description: This example mainly demonstrates the operation of multiple devices.

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

Firstly, it is necessary to create a Context to get a list of device information for creating devices and pipelines

ob::Context ctx;
// Query the list of connected devices
auto devList = ctx.queryDeviceList();
// Get the number of connected devices
int devCount = devList->deviceCount();

Create a device and create a pipeline through the device

// Traverse device list and create devices
std::vector<std::shared_ptr<ob::Device>> devices;
for (int i = 0; i < devCount; i++)
{
    // Get the device and create a pipeline
	auto dev  = devList->getDevice( i );
	auto pipe = std::make_shared< ob::Pipeline >( dev );
	pipes.push_back( pipe );
}

Open depth and color streams for multiple devices

void StartStream(std::vector<std::shared_ptr<ob::Pipeline>> pipes) {
    int i = 0;
    for(auto &&pipe: pipes) {
        std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
        // Get the depth camera configuration list
        auto                                    depthProfileList = pipe->getStreamProfileList(OB_SENSOR_DEPTH);
        std::shared_ptr<ob::VideoStreamProfile> depthProfile     = nullptr;
        if(depthProfileList) {
            // Open the default profile of Depth Sensor, which can be configured through the configuration file
            depthProfile = std::const_pointer_cast<ob::StreamProfile>(depthProfileList->getProfile(OB_PROFILE_DEFAULT))->as<ob::VideoStreamProfile>();
        }
        config->enableStream(depthProfile);

        // Get the color camera configuration list
        try {
            auto                                    colorProfileList = pipe->getStreamProfileList(OB_SENSOR_COLOR);
            std::shared_ptr<ob::VideoStreamProfile> colorProfile     = nullptr;
            if(colorProfileList) {
                // Open the default profile of Color Sensor, which can be configured through the configuration file
                colorProfile = std::const_pointer_cast<ob::StreamProfile>(colorProfileList->getProfile(OB_PROFILE_DEFAULT))->as<ob::VideoStreamProfile>();
            }
            config->enableStream(colorProfile);
        }
        catch(ob::Error &e) {
            std::cerr << "Current device is not support color sensor!" << std::endl;
        }

        // Start the pipeline and pass in the configuration
        pipe->start(config, [i](std::shared_ptr<ob::FrameSet> frameSet) {
            std::lock_guard<std::mutex> lock(frameMutex);
            if(frameSet->colorFrame()) {
                colorFrames[i] = frameSet->colorFrame();
            }
            if(frameSet->depthFrame()) {
                depthFrames[i] = frameSet->depthFrame();
            }
        });
        i++;
    }
}

Stop all open streams on devices

void StopStream( std::vector< std::shared_ptr< ob::Pipeline > > pipes) {
    int i = 0;
    for ( auto&& pipe : pipes ) {
        if(colorFrames[i])
            colorFrames->reset();
        if(depthFrames[i])
            depthFrames->reset();
        if(irFrames[i])
            irFrames->reset();
        // stop pipeline
        pipe->stop();
        i++;
    }
}

Expected Output

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