SimpleViewer: Couldn't find color stream:

Developer Resources Getting Started
7

here is a sample code for simultaneous stream of depth and colour streams using Astra SDK in Ubuntu 16.04
/*
#include <astra/astra.hpp>
#include <astra_core/astra_core.hpp>
#include
#include
#include <key_handler.h>
#include
#include
#include
#include
#include
#include <stdio.h>

#include “opencv2/opencv.hpp”
#include “opencv2/objdetect/objdetect.hpp”
#include “opencv2/highgui/highgui.hpp”
#include “opencv2/imgproc/imgproc.hpp”
#include <opencv2/core/core.hpp>
#include <opencv2/calib3d/calib3d.hpp>
*/
using namespace std;
using namespace cv;

/*
float elapsedMillis_{.0f};

using DurationType = std::chrono::milliseconds;
using ClockType = std::chrono::high_resolution_clock;

ClockType::time_point prev_;

using buffer_ptr = std::unique_ptr<astra::RgbPixel []>;
buffer_ptr buffer_;
unsigned int lastWidth_;
unsigned int lastHeight_;
*/

/*
astra::ColorStream configure_color(astra::StreamReader& reader)
{
auto colorStream = reader.streamastra::ColorStream();

auto oldMode = colorStream.mode();

//We don't have to set the mode to start the stream, but if you want to here is how:
astra::ImageStreamMode colorMode;

colorMode.set_width(640);
colorMode.set_height(480);
colorMode.set_pixel_format(astra_pixel_formats::ASTRA_PIXEL_FORMAT_RGB888);
colorMode.set_fps(30);

colorStream.set_mode(colorMode);

auto newMode = colorStream.mode();
printf("Changed color mode: %dx%d @ %d -> %dx%d @ %d\n",
    oldMode.width(), oldMode.height(), oldMode.fps(),
    newMode.width(), newMode.height(), newMode.fps());

return colorStream;

}

astra::DepthStream configure_depth(astra::StreamReader& reader)
{
auto depthStream = reader.streamastra::DepthStream();

auto oldMode = depthStream.mode();

//We don't have to set the mode to start the stream, but if you want to here is how:
astra::ImageStreamMode depthMode;

depthMode.set_width(640);
depthMode.set_height(480);
depthMode.set_pixel_format(astra_pixel_formats::ASTRA_PIXEL_FORMAT_DEPTH_MM);
depthMode.set_fps(30);

depthStream.set_mode(depthMode);

auto newMode = depthStream.mode();
printf("Changed depth mode: %dx%d @ %d -> %dx%d @ %d\n",
    oldMode.width(), oldMode.height(), oldMode.fps(),
    newMode.width(), newMode.height(), newMode.fps());

return depthStream;

}
*/

int main(int argc, char** argv)
{
astra::initialize();

set_key_handler();

astra::StreamSet streamSet;
astra::StreamReader reader = streamSet.create_reader();

reader.stream<astra::ColorStream>().start();  
reader.stream<astra::DepthStream>().start();

// may use for manual configuration of streams

/* auto colorStream = configure_color(reader);
auto depthStream = configure_depth(reader);

colorStream.start();
depthStream.start();*/

do
{
	astra::Frame frame = reader.get_latest_frame();
	const astra::ColorFrame colorFrame = frame.get<astra::ColorFrame>();
	
	const astra::DepthFrame depthFrame = frame.get<astra::DepthFrame>();
	
	cv::Mat mImageRGB(colorFrame.height(), colorFrame.width(), CV_8UC3, (void*)colorFrame.data());
	cv::Mat cImageBGR;
    cv::cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
    
    cv::Mat mImageDepth(depthFrame.height(), depthFrame.width(), CV_16UC1, (void*)depthFrame.data());
	cv::Mat mScaledDepth;
    mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0/3500 );

/*
cv::imshow( “Color Image”, cImageBGR ); // RGB image
cv::imshow( “Depth Image”, mScaledDepth ); // depth image
cv::imshow( “Depth Image 2”, mImageDepth ); // contains depth data
*/

/* std::cout << "colorStream – hFov: "
<< reader.streamastra::ColorStream().hFov()
<< " vFov: "
<< reader.streamastra::ColorStream().vFov()
<< std::endl;*/

/* std::cout << "depthStream – hFov: "
<< reader.streamastra::DepthStream().hFov()
<< " vFov: "
<< reader.streamastra::DepthStream().vFov()
<< std::endl;*/

/* check_fps();
*/

    astra_update();
    
    if( cv::waitKey(1) == 'q')
        break;

} while (shouldContinue);

astra::terminate();

}

I don’t know why basic c++ includes are not formatted accordingly but it can be managed easily.

cheers,
Prasanna