I’m using the Orbbec SDK (v1.10.18) with a Femto Bolt device (firmware 1.0.9) and tried running the Sample-SyncAlignViewer example. As soon as I press F to enable frame synchronization, I see in the console that the incoming frames alternate between valid color and valid depth (i.e., one is always nullptr). I never get both color and depth at the same time, so the frames are never truly time-synchronized. How can I fix this issue so that color and depth frames arrive at the same time?
Code:
/**
*Synchronous alignment example
*
* In this example, the mirror status of the depth and the color may be inconsistent because the depth or color sensor does not support mirroring.
* As a result, the images displayed by the depth and the color are reversed. If this happens, just set the mirror interface to keep the two mirror states
* consistent.
* In addition, the resolution obtained by some devices may not support the D2C function, so the resolutions that support D2C, please refer to the
* product manual.
* For example: the D2C resolution supported by DaBai DCW is 640x360, but the actual resolution obtained in this example may be 640x480, at this time the user
* must refer to the product manual to select 640x360 resolution.
*/
#include "window.hpp"
#include "libobsensor/hpp/Pipeline.hpp"
#include "libobsensor/hpp/Error.hpp"
#include <mutex>
#include <thread>
static bool sync = false;
static bool started = true;
static bool hd2c = false;
static bool sd2c = true;
static float alpha = 0.5;
static int windowWidth = 0;
static int windowHeight = 0;
// key press event processing
void keyEventProcess(Window &app, ob::Pipeline &pipe, std::shared_ptr<ob::Config> config) {
////Get the key value
int key = app.waitKey(10);
if(key == '+' || key == '=') {
// Press the + key to increase alpha
alpha += 0.1f;
if(alpha >= 1.0f) {
alpha = 1.0f;
}
app.setAlpha(alpha);
}
else if(key == '-' || key == '_') {
// press - key to decrease alpha
alpha -= 0.1f;
if(alpha <= 0.0f) {
alpha = 0.0f;
}
app.setAlpha(alpha);
}
else if(key == 'D' || key == 'd') {
// Press the D key to switch the hardware D2C
try {
if(!hd2c) {
started = false;
pipe.stop();
hd2c = true;
sd2c = false;
std::cerr << "Align (hardware) enabled" << std::endl;
config->setAlignMode(ALIGN_D2C_HW_MODE);
pipe.start(config);
started = true;
}
else {
started = false;
pipe.stop();
hd2c = false;
sd2c = false;
std::cerr << "Align (hardware) disabled" << std::endl;
config->setAlignMode(ALIGN_DISABLE);
pipe.start(config);
started = true;
}
}
catch(std::exception &e) {
std::cerr << "Property not support" << std::endl;
}
}
else if(key == 'S' || key == 's') {
// Press the S key to switch the software D2C
try {
if(!sd2c) {
started = false;
pipe.stop();
sd2c = true;
hd2c = false;
std::cerr << "Align (software) enabled" << std::endl;
config->setAlignMode(ALIGN_D2C_SW_MODE);
pipe.start(config);
started = true;
}
else {
started = false;
pipe.stop();
hd2c = false;
sd2c = false;
std::cerr << "Align (software) disabled" << std::endl;
config->setAlignMode(ALIGN_DISABLE);
pipe.start(config);
started = true;
}
}
catch(std::exception &e) {
std::cerr << "Property not support" << std::endl;
}
}
else if(key == 'F' || key == 'f') {
// Press the F key to switch synchronization
sync = !sync;
if(sync) {
try {
// enable synchronization
std::cerr << "Sync enabled" << std::endl;
pipe.enableFrameSync();
}
catch(...) {
std::cerr << "Sync not support" << std::endl;
}
}
else {
try {
// turn off sync
std::cerr << "Sync disabled" << std::endl;
pipe.disableFrameSync();
}
catch(...) {
std::cerr << "Sync not support" << std::endl;
}
}
}
}
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>();
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 the alignment mode as hardware D2C alignment
config->setAlignMode(ALIGN_D2C_SW_MODE);
// Start the pipeline with config
try {
pipe.start(config);
}
catch(ob::Error &e) {
std::cerr << "function:" << e.getName() << "\nargs:" << e.getArgs() << "\nmessage:" << e.getMessage() << "\ntype:" << e.getExceptionType() << std::endl;
}
// Create a window for rendering and set the resolution of the window
Window app("SyncAlignViewer", colorProfile->width(), colorProfile->height(), RENDER_OVERLAY);
while(app) {
keyEventProcess(app, pipe, config);
auto frameSet = pipe.waitForFrames(500);
if(frameSet == nullptr) {
continue;
}
auto colorFrame = frameSet->colorFrame();
auto depthFrame = frameSet->depthFrame();
std::cout << "================================================" << std::endl;
std::cerr << "colorFrame: " << colorFrame << std::endl;
std::cerr << "depthFrame: " << depthFrame << std::endl;
if(colorFrame != nullptr && depthFrame != nullptr) {
app.addToRender({ colorFrame, depthFrame });
}
}
// Stop the Pipeline, no frame data will be generated
pipe.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);
}
Result:
================================================
colorFrame: 0x61f83ec6b9e0
depthFrame: 0
================================================
colorFrame: 0x61f83ec6b9e0
depthFrame: 0
================================================
colorFrame: 0
depthFrame: 0x61f83ec6b9e0
================================================
colorFrame: 0x61f83ec6b9e0
depthFrame: 0
================================================
colorFrame: 0x61f83ec6b9e0
depthFrame: 0
================================================
colorFrame: 0
depthFrame: 0x61f83ec6b9e0
================================================
colorFrame: 0x61f83ec6b9e0
depthFrame: 0
================================================
colorFrame: 0x61f83ec6b9e0
depthFrame: 0
================================================
colorFrame: 0
depthFrame: 0x61f83ec6b9e0
================================================