OrbbecSDK_v2

C++ Sample：2.device.playback

Overview

This example demonstrates how to use the SDK to read and visualize data from a ROS bag file (.bag) with Orbbec camera streams.

Knowledge

Pipeline: Manages data streams with multi-channel configuration, frame synchronization, and aggregation capabilities.
PlaybackDevice: Reads sensor data from a ROS bag file and feeds it into the processing pipeline.

code overview

1. Initialize Playback Device and Pipeline

   Create a playback device from a ROS bag file and configure the processing pipeline:

        // Create a playback device with a Rosbag file
        std::shared_ptr<ob::PlaybackDevice> playback = std::make_shared<ob::PlaybackDevice>(filePath);
        // Create a pipeline with the playback device
        std::shared_ptr<ob::Pipeline> pipe = std::make_shared<ob::Pipeline>(playback);
   

2. Enable Recorded Streams Activate all sensor streams available in the bag file:

        std::shared_ptr<ob::Config> config     = std::make_shared<ob::Config>();
        auto                        sensorList = playback->getSensorList();
        for(uint32_t i = 0; i < sensorList->getCount(); i++) {
            auto sensorType = sensorList->getSensorType(i);
   
            config->enableStream(sensorType);
        }
   

3. Start the Pipeline with the Config

        pipe->start(config);
   

4. Automatically restart playback when reaching file end:

        playback->setPlaybackStatusChangeCallback([&](OBPlaybackStatus status) {
            if(status == OB_PLAYBACK_STOPPED && !exited) {
                pipe->stop();
                std::this_thread::sleep_for(std::chrono::milliseconds(1000));
                pipe->start(config);
            }
        });
   

Run Sample

Press the ‘Esc’ key in the window to exit the program.

Result

This site is open source. Improve this page.