World Frame XYZ and Transformation.cpp

[triplecmike]

Originally posted by @zhonghong322 in https://github.com/orbbec/OrbbecSDK/issues/81#issuecomment-2109201295

https://github.com/orbbec/OrbbecSDK/blob/main/examples/cpp/Sample-Transformation/Transformation.cpp In this sample, depth to color 2D conversion and color to depth 2D conversion samples are added

Hi,

I'm new to C++ and Femto Mega, and I have a couple of questions on the Transformation.cpp sample:

1) Failed to get color or depth frames when running sample Transformation.cpp

I was able to run the code and to get a DepthPointsWithTables.ply file successfully saved, but couldn't demonstrate depth 2D converted to color 2D or vice versa. Please see the following log:

[11/18 13:05:34.036177][info][61720][Context.cpp:68] Context created with config: default config!
[11/18 13:05:34.036371][info][61720][Context.cpp:73] Work directory=C:\OrbbecSDK_v1.10.12\build\cpp\Sample-Transformation, SDK version=v1.10.12-20240809-69b687f22
[11/18 13:05:34.036564][info][61720][MfPal.cpp:105] createObPal: create WinPal!
[11/18 13:05:34.202292][info][61720][DeviceManager.cpp:15] Current found device(s): (1)
[11/18 13:05:34.202357][info][61720][DeviceManager.cpp:24]      - Name: Femto Mega, PID: 0x0669, SN/ID: CL2T441009Z, Connection: USB3.2
[11/18 13:05:34.696570][warning][61720][Pipeline.cpp:377] Wait for frame timeout, you can try to increase the wait time! current timeout=100
DepthPointsWithTables.ply Saved
[11/18 13:05:36.812638][warning][61720][Pipeline.cpp:377] Wait for frame timeout, you can try to increase the wait time! current timeout=100
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed![11/18 13:05:37.761199][warning][57988][Pipeline.cpp:341] Pipeline source frameset queue fulled, drop the oldest frame!

Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
Get color frame or depth frame failed!
[11/18 13:05:37.814825][warning][42376][Pipeline.cpp:377] Wait for frame timeout, you can try to increase the wait time! current timeout=100 [**7 logs in 3118ms, last: 13:05:35.432419**]
[11/18 13:05:39.764066][warning][61720][Pipeline.cpp:377] Wait for frame timeout, you can try to increase the wait time! current timeout=100
[11/18 13:05:39.929013][warning][62376][Pipeline.cpp:377] Wait for frame timeout, you can try to increase the wait time! current timeout=100 [**7 logs in 3116ms, last: 13:05:37.539399**]
[11/18 13:05:40.762588][warning][36064][Pipeline.cpp:341] Pipeline source frameset queue fulled, drop the oldest frame! [**1 logs in 3001ms, last: 13:05:37.761320**]
[11/18 13:05:42.060322][warning][61720][Pipeline.cpp:377] Wait for frame timeout, you can try to increase the wait time! current timeout=100
[11/18 13:05:42.893946][warning][35676][Pipeline.cpp:377] Wait for frame timeout, you can try to increase the wait time! current timeout=100 [**5 logs in 3129ms, last: 13:05:40.328872**]
[11/18 13:05:43.095327][warning][58656][Pipeline.cpp:341] Pipeline source frameset queue fulled, drop the oldest frame!
[11/18 13:05:44.807247][warning][21100][Pipeline.cpp:377] Wait for frame timeout, you can try to increase the wait time! current timeout=100 [**8 logs in 2746ms, last: 13:05:42.916956**]

C:\OrbbecSDK_v1.10.12\build\bin\Release\Transformation.exe (process 64252) exited with code 0 (0x0).
To automatically close the console when debugging stops, enable Tools->Options->Debugging->Automatically close the console when debugging stops.

2) Could anyone direct me to documentation regarding the frame/coordinate system for the depth map XYZ and point cloud XYZ?

Thank you so much for the help and support!