OrbbecSDK_v2

C Sample: 0.c_lidar_quik_start

Overview

This C language sample demonstrates how to quickly obtain LiDAR point cloud data using the SDK C API and save it to a PLY file when triggered by user input.

Knowledge

• C API provides a C-language interface for the SDK functionality
• Pipeline manages data streams similar to the C++ version
• Error Handling uses ob_error structure for comprehensive error reporting
• Memory Management requires explicit deletion of frames and pipelines

Code overview

1. Initialize pipeline and start with default configuration

    ob_error *error = NULL;
    ob_pipeline *pipe = ob_create_pipeline(&error);
    ob_pipeline_start(pipe, &error);
   

2. Interactive control loop for point cloud capture

    while(true) {
        char key = ob_smpl_wait_for_key_press(10);
        if(key == ESC_KEY) {
            break;
        }
   
        if(key == 'r' || key == 'R') {
            // Capture and save point cloud
        }
    }
   

3. Capture frameset and extract LiDAR point cloud data

    ob_frame *frameset = ob_pipeline_wait_for_frameset(pipe, 1000, &error);
    ob_frame *frame = ob_frameset_get_frame(frameset, OB_FRAME_LIDAR_POINTS, &error);
   

4. Save point cloud to PLY file with proper cleanup

    bool result = ob_save_pointcloud_to_ply("LiDARPoints.ply", frame, false, false, 50, &error);
    ob_delete_frame(frameset, &error);
   

5. Proper resource cleanup on exit

    ob_pipeline_stop(pipe, &error);
    ob_delete_pipeline(pipe, &error);
   

Run Sample

Operation Instructions

• Press R or r key to capture and save LiDAR point cloud data to “LiDARPoints.ply” file
• Press ESC key to exit the program

C API Specific Features

• Explicit Memory Management: All created objects must be explicitly deleted
• Error Handling: Every function call returns error information through ob_error parameter
• Resource Cleanup: Proper cleanup sequence ensures no memory leaks
• Timeout Handling: Frame waiting includes timeout parameter (1000ms in this sample)

Result

The program generates “LiDARPoints.ply” file containing 3D point cloud data when the R key is pressed. The C API provides the same functionality as the C++ version but with explicit memory management and error handling typical of C programming patterns.

LiDAR stream is started!
Press R or r to create LiDAR PointCloud and save to ply file!
Press ESC to exit!
Save LiDAR PointCloud to ply file, this will take some time...
LiDARPoints.ply Saved
Save LiDAR PointCloud to ply file, this will take some time...
LiDARPoints.ply Saved

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