config-resolution

Overview #

In LIPSEdge SDK, we use video mode to set different resolution, FPS and data format. This example shows you how to use video mode settings.

Expect Output #

Prerequisite #

• OpenCV Viewer

Tutorial #

We first get all available video modes of each stream by the following code. Video mode include resolution, FPS and pixel format information.

const openni::SensorInfo *colorInfo = device.getSensorInfo(SENSOR_COLOR);
const openni::SensorInfo *depthInfo = device.getSensorInfo(SENSOR_DEPTH);
const openni::SensorInfo *irInfo = device.getSensorInfo(SENSOR_IR);

auto &colorVideoModes = colorInfo->getSupportedVideoModes();
auto &depthVideoModes = depthInfo->getSupportedVideoModes();
auto &irVideoModes = irInfo->getSupportedVideoModes();

Then we print out all of them. Pixel format store as integer number. We use pixelFormatToString to convert them to string.

std::string pixelFormatToString(PixelFormat format)
{
    switch (format)
    {
    // Depth
    case PIXEL_FORMAT_DEPTH_100_UM:
        return "Depth-16bit,0.1mm";
        break;
    case PIXEL_FORMAT_DEPTH_1_MM:
        return "Depth-16bit,1mm";
        break;

        ...
    }
}

We ask user to enter number to select the desired video mode

std::string input;
int colorSelection = 0, depthSelection = 0, irSelection = 0;

std::cout << "Select Color video mode:";
std::cin >> input;
colorSelection = atoi(input.c_str());

std::cout << "Select Depth video mode:";
std::cin >> input;
depthSelection = atoi(input.c_str());

std::cout << "Select Ir video mode:";
std::cin >> input;
irSelection = atoi(input.c_str());

Before starting streams, we set the video mode firstCopy

VideoStream color;
color.create(device, SENSOR_COLOR);
color.setVideoMode(colorVideoModes[colorSelection]);
color.start();

VideoStream depth;
depth.create(device, SENSOR_DEPTH);
depth.setVideoMode(depthVideoModes[depthSelection]);
depth.start();

VideoStream ir;
ir.create(device, SENSOR_IR);
ir.setVideoMode(irVideoModes[irSelection]);
ir.start();

We can get current video mode from stream object to check video mode has been set.

VideoMode colorMode = color.getVideoMode();
VideoMode depthMode = depth.getVideoMode();
VideoMode irMode = ir.getVideoMode();

Full code #

config-resolution.cpp