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
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 first
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
