Merge branch 'feature/sample' into 'develop'

update sample code See merge request OrbbecSDK/openorbbecsdk!30
orbbec · Jul 5, 2024 · d7cd3ca · d7cd3ca
2 parents 1e51fae + 575d540
commit d7cd3ca
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Showing 18 changed files with 181 additions and 174 deletions.
diff --git a/examples/0.basic.enumerate/enumerate.cpp b/examples/0.basic.enumerate/enumerate.cpp
@@ -1,17 +1,17 @@
 #include <libobsensor/ObSensor.hpp>
 
+#include "utils.hpp"
 #include "utils_opencv.hpp"
 
 #include <iostream>
 
 // get input option
 int getInputOption() {
-    std::string selected;
-    std::cin >> selected;
-    if(selected == "q" || selected == "Q") {
+    char inputOption = ob_sample_utils::waitForKeyPressed();
+    if(inputOption == ESC_KEY) {
         return -1;
     }
-    return std::stoul(selected);
+    return inputOption - '0';
 }
 
 // Print stream profile information.
@@ -27,7 +27,7 @@ void printStreamProfile(std::shared_ptr<ob::StreamProfile> profile, uint32_t ind
     // Get the fps.
     auto fps = videoProfile->getFps();
     std::cout << index << "."
-              << "format: " << formatName << ", "
+              << "format: " << ob::TypeHelper::convertOBFormatTypeToString(formatName) << ", "
               << "revolution: " << width << "*" << height << ", "
               << "fps: " << fps << std::endl;
 }
@@ -39,7 +39,7 @@ void printAccelProfile(std::shared_ptr<ob::StreamProfile> profile, uint32_t inde
     // Get the rate of accel.
     auto accRate = accProfile->getSampleRate();
     std::cout << index << "."
-              << "acc rate: " << accRate << std::endl;
+              << "acc rate: " << ob::TypeHelper::convertOBIMUSampleRateTypeToString(accRate) << std::endl;
 }
 
 // Print gyro profile information.
@@ -87,13 +87,13 @@ void enumerateSensors(std::shared_ptr<ob::Device> device) {
             // Get the sensor type.
             auto sensorType = sensorList->getSensorType(index);
             std::cout << " - " << index << "."
-                      << "sensor type: " << sensorType << std::endl;
+                      << "sensor type: " << ob::TypeHelper::convertOBSensorTypeToString(sensorType) << std::endl;
         }
 
-        std::cout << "Select a sensor to enumerate its streams(input sensor index or \'q\' to enumerate device): " << std::endl;
+        std::cout << "Select a sensor to enumerate its streams(input sensor index or \'ESC\' to enumerate device): " << std::endl;
 
         // Select a sensor.
-        int sensorSelected = getInputOption();
+        int sensorSelected = ob_sample_utils::getInputOption();
         if(sensorSelected == -1) {
             break;
         }
@@ -119,7 +119,7 @@ int main(void) try {
 
         std::cout << "enumerated devices: " << std::endl;
 
-        std::shared_ptr<ob::Device> device = nullptr;
+        std::shared_ptr<ob::Device>     device     = nullptr;
         std::shared_ptr<ob::DeviceInfo> deviceInfo = nullptr;
         for(uint32_t index = 0; index < deviceList->getCount(); index++) {
             // Get device from deviceList.
@@ -130,10 +130,10 @@ int main(void) try {
                       << std::endl;
         }
 
-        std::cout << "enumerate sensors of device (input device index or \'q\' to exit program):" << std::endl;
+        std::cout << "enumerate sensors of device (input device index or \'ESC\' to exit program):" <<std::endl;
 
         // select a device.
-        int deviceSelected = getInputOption();
+        int deviceSelected = ob_sample_utils::getInputOption();
         if(deviceSelected == -1) {
             break;
         }

diff --git a/examples/0.basic.quick_start/quick_start.cpp b/examples/0.basic.quick_start/quick_start.cpp
@@ -10,7 +10,7 @@ int main(void) try {
     pipe.start();
 
     // Create a window for rendering, and set the size of the window.
-    Window app("quick start", 1280, 480, RENDER_ONE_ROW);
+    Window app("quick start", 1280, 720, RENDER_ONE_ROW);
 
     while(app) {
         // Wait for frameSet from the pipeline, the default timeout is 1000ms.

diff --git a/examples/1.stream.callback/callback.cpp b/examples/1.stream.callback/callback.cpp
@@ -24,7 +24,7 @@ int main(void) try {
         if(sensorType == OB_SENSOR_IR || sensorType == OB_SENSOR_IR_LEFT || sensorType == OB_SENSOR_IR_RIGHT || sensorType == OB_SENSOR_COLOR
            || sensorType == OB_SENSOR_DEPTH) {
             // Enable the stream with specified requirements.
-            config->enableVideoStream(convertSensorTypeToStreamType(sensorType));
+            config->enableVideoStream(ob::TypeHelper::convertSensorTypeToStreamType(sensorType));
         }
     }
 

diff --git a/examples/1.stream.imu/imu.cpp b/examples/1.stream.imu/imu.cpp
@@ -1,12 +1,13 @@
 #include <libobsensor/ObSensor.hpp>
 
 #include "utils.hpp"
+#include "utils_key.h"
 
 #include <mutex>
 #include <iostream>
 
 void printImuValue(OBFloat3D obFloat3d, uint64_t index, uint64_t timeStampUs, float temperature, OBFrameType type, const std::string &unitStr) {
-    std::cout << index << std::endl;
+    std::cout << "frame index: " <<index << std::endl;
     std::cout << type << " Frame: \n\r{\n\r"
               << "  tsp = " << timeStampUs << "\n\r"
               << "  temperature = " << temperature << "\n\r"
@@ -38,7 +39,7 @@ int main() try {
 
     while(true) {
         auto key = ob_sample_utils::waitForKeyPressed(1);
-        if(key == 27) {  // Esc key to exit.
+        if(key == ESC_KEY) {  // Esc key to exit.
             break;
         }
         auto frameSet = pipe.waitForFrameset();

diff --git a/examples/1.stream.infrared/infrared.cpp b/examples/1.stream.infrared/infrared.cpp
@@ -28,7 +28,7 @@ int main() try {
         OBSensorType sensorType = sensorList->getSensorType(index);
         if(sensorType == OB_SENSOR_IR || sensorType == OB_SENSOR_IR_LEFT || sensorType == OB_SENSOR_IR_RIGHT) {
             // Enable the stream with specified requirements.
-            config->enableVideoStream(convertSensorTypeToStreamType(sensorType), OB_WIDTH_ANY, OB_HEIGHT_ANY, 30, OB_FORMAT_ANY);
+            config->enableVideoStream(ob::TypeHelper::convertSensorTypeToStreamType(sensorType), OB_WIDTH_ANY, OB_HEIGHT_ANY, 30, OB_FORMAT_ANY);
         }
     }
 

diff --git a/examples/1.stream.multi_streams/multi_streams.cpp b/examples/1.stream.multi_streams/multi_streams.cpp
@@ -26,7 +26,7 @@ int main(void) try {
             continue;
         }
         // Get frame type based on sensor type.
-        auto streamType = convertSensorTypeToStreamType(sensorType);
+        auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
         // enable the stream.
         config->enableVideoStream(streamType);
     }

diff --git a/examples/3.advanced.common_usages/common_usages.cpp b/examples/3.advanced.common_usages/common_usages.cpp
@@ -110,23 +110,23 @@ void handleDeviceConnected(std::shared_ptr<ob::DeviceList> devices) {
         pipeline = std::make_shared<ob::Pipeline>(device);
         std::cout << "Open device success, SN: " << devices->getSerialNumber(0) << std::endl;
 
-        // try to switch depth work mode
-        switchDepthWorkMode();
+        // // try to switch depth work mode
+        // switchDepthWorkMode();
 
-        // try turn off hardware disparity to depth converter (switch to software d2d)
-        turnOffHwD2d();
+        // // try turn off hardware disparity to depth converter (switch to software d2d)
+        // turnOffHwD2d();
 
-        // set depth unit
-        setDepthUnit();
+        // // set depth unit
+        // setDepthUnit();
 
-        // set depth value range
-        setDepthValueRange();
+        // // set depth value range
+        // setDepthValueRange();
 
-        // set depth soft filter
-        setDepthSoftFilter();
+        // // set depth soft filter
+        // setDepthSoftFilter();
 
         // start stream
-        // startStream();
+        startStream();
     }
 }
 
@@ -297,30 +297,6 @@ void startStream() {
         }
     }
 
-    // // 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>();
-
-    // // Get device from pipeline.
-    // device = pipeline->getDevice();
-
-    // // Get sensorList from device.
-    // auto sensorList = device->getSensorList();
-
-    // for(uint32_t index = 0; index < sensorList->getCount(); index++) {
-    //     // Query all supported infrared sensor type and enable the infrared stream.
-    //     // For dual infrared device, enable the left and right infrared streams.
-    //     // For single infrared device, enable the infrared stream.
-    //     OBSensorType sensorType = sensorList->getSensorType(index);
-    //     if(sensorType == OB_SENSOR_IR || sensorType == OB_SENSOR_IR_LEFT || sensorType == OB_SENSOR_IR_RIGHT || sensorType == OB_SENSOR_COLOR
-    //        || sensorType == OB_SENSOR_DEPTH) {
-    //         // Enable the stream with specified requirements.
-    //         config->enableVideoStream(convertSensorTypeToStreamType(sensorType));
-
-    //         // // colorProfile
-    //         // auto sensor = sensorList->getSensor();
-    //     }
-    // }
-
     // start pipeline
     pipeline->start(config, handleFrameset);
     streamStarted = true;
@@ -798,7 +774,6 @@ void setColorGainValue(bool increase) {
 
 void printUsage() {
     std::cout << "Support commands:" << std::endl;
-    std::cout << "    stream / s - (re)start stream" << std::endl;
     std::cout << "    info / i - get device information" << std::endl;
     std::cout << "    param / p - get camera parameter" << std::endl;
     std::cout << "    laser / l - on/off laser" << std::endl;
@@ -824,10 +799,7 @@ void printUsage() {
 }
 
 void commandProcess(std::string cmd) {
-    if(cmd == "stream" || cmd == "s") {
-        startStream();
-    }
-    else if(cmd == "info" || cmd == "i") {
+    if(cmd == "info" || cmd == "i") {
         getDeviceInformation();
     }
     else if(cmd == "param" || cmd == "p") {

diff --git a/examples/3.advanced.post_processing/post_processing.cpp b/examples/3.advanced.post_processing/post_processing.cpp
@@ -35,7 +35,7 @@ int main() try {
     pipe.start(config);
 
     // Create a window for rendering, and set the resolution of the window
-    Window app("PostProcessing", 640, 480);
+    Window app("PostProcessing", 1280, 720);
 
     while(app) {
         // Wait for up to 1000ms for a frameset in blocking mode.

diff --git a/examples/3.advanced.preset/preset.cpp b/examples/3.advanced.preset/preset.cpp
@@ -1,9 +1,9 @@
 #include <libobsensor/ObSensor.hpp>
 
-#include <iostream>
-
 #include "utils.hpp"
 
+#include <iostream>
+
 int main() try {
     // Create a pipeline with default device.
     ob::Pipeline pipe;
@@ -27,9 +27,8 @@ int main() try {
         std::cout << "Enter index of preset to load: ";
 
         // Select preset to load.
-        int loadIndex;
-        std::cin >> loadIndex;
-        auto presetName = presetLists->getName(loadIndex);
+        int inputOption = ob_sample_utils::getInputOption();
+        auto presetName = presetLists->getName(inputOption);
 
         // Load preset.
         device->loadPreset(presetName);
@@ -41,6 +40,10 @@ int main() try {
     // Stop Pipeline.
     pipe.stop();
 
+    printf("\nProgram ended successfully. Press any key to exit.");
+    getchar();
+    getchar();
+
     return 0;
 }
 catch(ob::Error &e) {

diff --git a/examples/c_examples/0.c_quick_start/quick_start.c b/examples/c_examples/0.c_quick_start/quick_start.c
@@ -4,6 +4,7 @@
 #include <libobsensor/ObSensor.h>
 
 #include "utils_c.h"
+#include "utils_key.h"
 
 void calculate_and_print_frame_rate(const ob_frame *frameset) {
     // Initialize variables

diff --git a/examples/c_examples/2.c_depth/depth.c b/examples/c_examples/2.c_depth/depth.c
@@ -4,6 +4,7 @@
 #include <libobsensor/ObSensor.h>
 
 #include "utils_c.h"
+#include "utils_key.h"
 
 // helper function to check for errors and exit if there is one
 void check_ob_error(ob_error **err) {

diff --git a/examples/common/utils.cpp b/examples/common/utils.cpp
@@ -1,8 +1,28 @@
 #include "utils.hpp"
 #include "utils_c.h"
+#include "utils_key.h"
+
+#include <chrono>
 
 namespace ob_sample_utils {
 char waitForKeyPressed(uint32_t timeout_ms) {
     return ob_sample_utils_wait_for_key_press(timeout_ms);
 }
-}  // namespace ob_sample_utils
+
+uint64_t getNowTimesMs() {
+    return std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+}
+
+int getInputOption() {
+    char inputOption = ob_sample_utils::waitForKeyPressed();
+    if(inputOption == ESC_KEY) {
+        return -1;
+    }
+    return inputOption - '0';
+}
+
+}  // namespace ob_sample_utils
+
+uint64_t ob_sample_utils_get_current_timestamp_ms(){
+    return ob_sample_utils::getNowTimesMs();
+}
diff --git a/examples/common/utils.hpp b/examples/common/utils.hpp
@@ -3,4 +3,9 @@
 
 namespace ob_sample_utils {
 char waitForKeyPressed(uint32_t timeout_ms = 0);
+
+uint64_t getNowTimesMs();
+
+int getInputOption();
+
 }
diff --git a/examples/common/utils_c.c b/examples/common/utils_c.c
@@ -61,24 +61,24 @@ int kbhit(void) {
 }
 
 #include <sys/time.h>
-uint64_t ob_sample_utils_get_current_timestamp_ms() {
-    struct timeval te;
-    gettimeofday(&te, NULL);                                          // 获取当前时间
-    long long milliseconds = te.tv_sec * 1000LL + te.tv_usec / 1000;  // 计算毫秒
-    return milliseconds;
-}
+// uint64_t ob_sample_utils_get_current_timestamp_ms() {
+//     struct timeval te;
+//     gettimeofday(&te, NULL);                                          // 获取当前时间
+//     long long milliseconds = te.tv_sec * 1000LL + te.tv_usec / 1000;  // 计算毫秒
+//     return milliseconds;
+// }
 #else  // Windows
 #include <conio.h>
 #include <windows.h>
-uint64_t ob_sample_utils_get_current_timestamp_ms() {
-    FILETIME      ft;
-    LARGE_INTEGER li;
-    GetSystemTimeAsFileTime(&ft);
-    li.LowPart             = ft.dwLowDateTime;
-    li.HighPart            = ft.dwHighDateTime;
-    long long milliseconds = li.QuadPart / 10000LL;
-    return milliseconds;
-}
+// uint64_t ob_sample_utils_get_current_timestamp_ms() {
+//     FILETIME      ft;
+//     LARGE_INTEGER li;
+//     GetSystemTimeAsFileTime(&ft);
+//     li.LowPart             = ft.dwLowDateTime;
+//     li.HighPart            = ft.dwHighDateTime;
+//     long long milliseconds = li.QuadPart / 10000LL;
+//     return milliseconds;
+// }
 
 char ob_sample_utils_wait_for_key_press(uint32_t timeout_ms) {
     HANDLE hStdin = GetStdHandle(STD_INPUT_HANDLE);
@@ -96,7 +96,7 @@ char ob_sample_utils_wait_for_key_press(uint32_t timeout_ms) {
     DWORD start_time = GetTickCount();
     while(true) {
         if(_kbhit()) {
-            char ch = (char)getch();
+            char ch = (char)_getch();
             SetConsoleMode(hStdin, mode);
             return ch;
         }

diff --git a/examples/common/utils_c.h b/examples/common/utils_c.h
@@ -6,8 +6,6 @@
 extern "C" {
 #endif
 
-#define ESC_KEY 27
-
 /**
  * @brief Get the current system timestamp in milliseconds.
  *

diff --git a/examples/common/utils_key.h b/examples/common/utils_key.h
@@ -0,0 +1,10 @@
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ESC_KEY 27
+
+#ifdef __cplusplus
+}
+#endif
-Original file line number
+Diff line change
@@ Expand Up / @@ -6,8 +6,6 @@ @@
     extern "C" {
     #endif
-    #define ESC_KEY 27
     /**
      * @brief Get the current system timestamp in milliseconds.
      *
@@ Expand Down @@