pyorbbec 1.0.1.7__tar.gz → 1.0.1.9__tar.gz

{pyorbbec-1.0.1.7 → pyorbbec-1.0.1.9}/MANIFEST.in

@@ -1,2 +1,3 @@
 include README.md LICENSE NOTICE HISTORY.md requirements-dev.txt
 recursive-include src/pyorbbecsdk/extensions *
+recursive-include src/pyorbbecsdk/examples *

{pyorbbec-1.0.1.7/src/pyorbbec.egg-info → pyorbbec-1.0.1.9}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pyorbbec
-Version: 1.0.1.7
+Version: 1.0.1.9
 Summary: Python interface to the Orbbec SDK.
 Home-page: https://orbbec.com.cn/
 Author: orbbec

{pyorbbec-1.0.1.7 → pyorbbec-1.0.1.9}/setup.py

@@ -21,7 +21,7 @@ from setuptools import setup, find_packages
     
 setup(
     name="pyorbbec",
-    version="1.0.1.7",
+    version="1.0.1.9",
     description="Python interface to the Orbbec SDK.",
     long_description_content_type="text/markdown",
     author="orbbec",

{pyorbbec-1.0.1.7 → pyorbbec-1.0.1.9/src/pyorbbec.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pyorbbec
-Version: 1.0.1.7
+Version: 1.0.1.9
 Summary: Python interface to the Orbbec SDK.
 Home-page: https://orbbec.com.cn/
 Author: orbbec

pyorbbec-1.0.1.9/src/pyorbbec.egg-info/SOURCES.txt

@@ -0,0 +1,54 @@
+LICENSE
+MANIFEST.in
+NOTICE
+README.md
+pyproject.toml
+setup.py
+src/pyorbbec.egg-info/PKG-INFO
+src/pyorbbec.egg-info/SOURCES.txt
+src/pyorbbec.egg-info/dependency_links.txt
+src/pyorbbec.egg-info/not-zip-safe
+src/pyorbbec.egg-info/top_level.txt
+src/pyorbbecsdk/OrbbecSDK.dll
+src/pyorbbecsdk/OrbbecSDK.lib
+src/pyorbbecsdk/OrbbecSDKConfig.xml
+src/pyorbbecsdk/__init__.py
+src/pyorbbecsdk/__version__.py
+src/pyorbbecsdk/pyorbbecsdk.cp313-win_amd64.pyd
+src/pyorbbecsdk/examples/.gitkeep
+src/pyorbbecsdk/examples/README.md
+src/pyorbbecsdk/examples/callback.py
+src/pyorbbecsdk/examples/color.py
+src/pyorbbecsdk/examples/coordinate_transform.py
+src/pyorbbecsdk/examples/depth.py
+src/pyorbbecsdk/examples/depth_work_mode.py
+src/pyorbbecsdk/examples/device_firmware_update.py
+src/pyorbbecsdk/examples/device_optional_depth_presets_update.py
+src/pyorbbecsdk/examples/enumerate.py
+src/pyorbbecsdk/examples/hdr.py
+src/pyorbbecsdk/examples/hot_plug.py
+src/pyorbbecsdk/examples/hw_d2c_align.py
+src/pyorbbecsdk/examples/imu.py
+src/pyorbbecsdk/examples/infrared.py
+src/pyorbbecsdk/examples/logger.py
+src/pyorbbecsdk/examples/metadata.py
+src/pyorbbecsdk/examples/multi_device.py
+src/pyorbbecsdk/examples/multi_streams.py
+src/pyorbbecsdk/examples/net_device.py
+src/pyorbbecsdk/examples/playback.py
+src/pyorbbecsdk/examples/point_cloud.py
+src/pyorbbecsdk/examples/post_processing.py
+src/pyorbbecsdk/examples/preset.py
+src/pyorbbecsdk/examples/quick_start.py
+src/pyorbbecsdk/examples/recorder.py
+src/pyorbbecsdk/examples/requirements.txt
+src/pyorbbecsdk/examples/save_image_to_disk.py
+src/pyorbbecsdk/examples/sync_align.py
+src/pyorbbecsdk/examples/two_devices_sync.py
+src/pyorbbecsdk/examples/utils.py
+src/pyorbbecsdk/extensions/depthengine/depthengine.dll
+src/pyorbbecsdk/extensions/depthengine/depthengine.lib
+src/pyorbbecsdk/extensions/filters/FilterProcessor.dll
+src/pyorbbecsdk/extensions/filters/ob_priv_filter.dll
+src/pyorbbecsdk/extensions/firmwareupdater/firmwareupdater.dll
+src/pyorbbecsdk/extensions/frameprocessor/ob_frame_processor.dll

pyorbbec-1.0.1.9/src/pyorbbecsdk/examples/README.md

@@ -0,0 +1,26 @@
+Install the requirements to run the sample after install the .whl
+pip3 install -r requirements.txt
+
+| Example                   | Description                                                                                                                       | Notes                                                                                                            | Level |
+|---------------------------|-----------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------|-------|
+| enumerate.py              | Use the SDK interface to obtain camera-related information, including model, various sensors, and sensor-related configurations . |                                                                                                                  | ⭐     |
+| hot_plug.py               | Demonstrates how to detect hot plug events.                                                                                       |                                                                                                                  | ⭐     |
+| logger.py                 | Use the SDK interface to set the log output level and customize the output path.                                                  |                                                                                                                  | ⭐     |
+| quick_start.py            | Demonstrates how to use the SDK.                                                                                                  |                                                                                                                  | ⭐     |
+| callback.py               | Displays the video stream from the camera using a callback.                                                                       |                                                                                                                  | ⭐⭐    |
+| color.py                  | Displays the color stream from the camera.                                                                                        |                                                                                                                  | ⭐⭐    |
+| depth.py                  | Displays the depth stream from the camera.                                                                                        |                                                                                                                  | ⭐⭐    |
+| imu.py                    | Demonstrates how to read IMU data.                                                                                                |                                                                                                                  | ⭐⭐    |
+| infrared.py               | Displays the infrared stream from the camera.                                                                                     |  | ⭐⭐    |
+| multi_device.py           | Demonstrates how to use multiple devices.                                                                                         |                                                                                                                  | ⭐⭐    |
+| net_device.py             | Demonstrates how to use network functions.                                                                                        | Supported by Femto Mega and Gemini 2 XL.                                                                         | ⭐⭐    |
+| coordinate_transform.py   | Use the SDK interface to transform different coordinate systems.                                                                  |                                                                                                                  | ⭐⭐⭐   |
+| device_firmware_update.py | This sample demonstrates how to read a firmware file to perform firmware upgrades on the device.                                       |                                                                                                                  | ⭐⭐⭐   |
+| depth_work_mode.py        | Demonstrates how to set the depth work mode.                                                                                      |      Supported by Gemini2、Gemini2L、Astra2、Gemini 2 XL                                                                                                            | ⭐⭐⭐   |
+| hdr.py                    | In this sample, user can get the HDR merge image. Also supports user to toggle HDR merge and toggle alternate show origin frame.  | Supported by the Gemini 330 series.                                                                              | ⭐⭐⭐   |
+| hw_d2c_align.py           | Demonstrates how to use hardware D2C.                                                                                             |                                                                                                                  | ⭐⭐⭐   |
+| point_cloud.py            | Demonstrates how to save the point cloud to disk using a point cloud filter.                                                      |                                                                                                                  | ⭐⭐⭐   |
+| post_processing.py        | Demonstrates how to use post-processing filters.                                                                                  | Supported by the Gemini 330 series.                                                                              | ⭐⭐⭐   |
+| preset.py                 | Use the SDK interface to set and get the preset value.                                                                            | Supported by the Gemini 330 series.                                                                              | ⭐⭐⭐   |
+| sync_align.py             | Demonstrates how to use the align filter.                                                                                         |                                                                              | ⭐⭐⭐   |
+| two_devices_sync.py       | Demonstrates how to synchronize two devices.                                                                                      |                                                                                                                  | ⭐⭐⭐   |

pyorbbec-1.0.1.9/src/pyorbbecsdk/examples/callback.py

@@ -0,0 +1,303 @@
+# ******************************************************************************
+#  Copyright (c) 2024 Orbbec 3D Technology, Inc
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+# ******************************************************************************
+
+from queue import Queue
+import cv2
+import numpy as np
+from pyorbbecsdk import *
+from utils import frame_to_bgr_image
+
+# Global variables
+frames_queue = Queue()
+MAX_QUEUE_SIZE = 1
+ESC_KEY = 27
+stop_rendering = False
+
+# Define sensor types we want to enable
+video_sensor_types = [
+    OBSensorType.DEPTH_SENSOR,
+    OBSensorType.LEFT_IR_SENSOR,
+    OBSensorType.RIGHT_IR_SENSOR,
+    OBSensorType.IR_SENSOR,
+    OBSensorType.COLOR_SENSOR
+]
+# cached frames for better visualization
+cached_frames = {
+    'color': None,
+    'depth': None,
+    'left_ir': None,
+    'right_ir': None,
+    'ir': None
+}
+
+def on_new_frame_callback(frame: FrameSet):
+    """Callback function to handle new frames"""
+    if frame is None:
+        return
+    if frames_queue.qsize() >= MAX_QUEUE_SIZE:
+        frames_queue.get()
+    frames_queue.put(frame)
+
+
+def process_color(frame):
+    """Process color frame to BGR image"""
+    if not frame:
+        return None
+    color_frame = frame.get_color_frame()
+    color_frame = color_frame if color_frame else cached_frames['color']
+    if not color_frame:
+        return None
+    try:
+        cached_frames['color'] = color_frame
+        return frame_to_bgr_image(color_frame)
+    except ValueError:
+        print("Error processing color frame")
+        return None
+
+
+def process_depth(frame):
+    """Process depth frame to colorized depth image"""
+    if not frame:
+        return None
+    depth_frame = frame.get_depth_frame()
+    depth_frame = depth_frame if depth_frame else cached_frames['depth']
+    if not depth_frame:
+        return None
+    try:
+        depth_data = np.frombuffer(depth_frame.get_data(), dtype=np.uint16)
+        depth_data = depth_data.reshape(depth_frame.get_height(), depth_frame.get_width())
+        depth_image = cv2.normalize(depth_data, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)
+        cached_frames['depth'] = depth_frame
+        return cv2.applyColorMap(depth_image, cv2.COLORMAP_JET)
+    except ValueError:
+        print("Error processing depth frame")
+        return None
+
+
+def process_ir(frame, frame_type):
+    if frame is None:
+        return None
+    ir_frame = frame.get_frame(frame_type)
+    frame_name = 'ir' if frame_type == OBFrameType.IR_FRAME else 'left_ir' if frame_type == OBFrameType.LEFT_IR_FRAME else 'right_ir'
+    ir_frame = ir_frame if ir_frame else cached_frames[frame_name]
+    if not ir_frame:
+        return None
+    ir_frame = ir_frame.as_video_frame()
+    cached_frames[frame_name] = ir_frame
+    ir_data = np.asanyarray(ir_frame.get_data())
+    width = ir_frame.get_width()
+    height = ir_frame.get_height()
+    ir_format = ir_frame.get_format()
+
+    if ir_format == OBFormat.Y8:
+        ir_data = np.resize(ir_data, (height, width, 1))
+        data_type = np.uint8
+        image_dtype = cv2.CV_8UC1
+        max_data = 255
+    elif ir_format == OBFormat.MJPG:
+        ir_data = cv2.imdecode(ir_data, cv2.IMREAD_UNCHANGED)
+        data_type = np.uint8
+        image_dtype = cv2.CV_8UC1
+        max_data = 255
+        if ir_data is None:
+            print("decode mjpeg failed")
+            return None
+        ir_data = np.resize(ir_data, (height, width, 1))
+    else:
+        ir_data = np.frombuffer(ir_data, dtype=np.uint16)
+        data_type = np.uint16
+        image_dtype = cv2.CV_16UC1
+        max_data = 255
+        ir_data = np.resize(ir_data, (height, width, 1))
+
+    cv2.normalize(ir_data, ir_data, 0, max_data, cv2.NORM_MINMAX, dtype=image_dtype)
+    ir_data = ir_data.astype(data_type)
+    return cv2.cvtColor(ir_data, cv2.COLOR_GRAY2RGB)
+
+
+
+def create_display(processed_frames, width=1280, height=720):
+    """Create display window with all processed frames
+    Layout:
+    2x2 grid when both left and right IR are present:
+    [Color] [Depth]
+    [L-IR] [R-IR]
+
+    2x2 grid with single IR:
+    [Color] [Depth]
+    [  IR  ][     ]
+    """
+    display = np.zeros((height, width, 3), dtype=np.uint8)
+    h, w = height // 2, width // 2
+
+    # Helper function for safe image resizing
+    def safe_resize(img, target_size):
+        if img is None:
+            return None
+        try:
+            return cv2.resize(img, target_size)
+        except:
+            return None
+
+    # Process frames with consistent error handling
+    def place_frame(img, x1, y1, x2, y2):
+        if img is not None:
+            try:
+                h_section = y2 - y1
+                w_section = x2 - x1
+                resized = safe_resize(img, (w_section, h_section))
+                if resized is not None:
+                    display[y1:y2, x1:x2] = resized
+            except:
+                pass
+
+    # Always show color and depth in top row if available
+    place_frame(processed_frames.get('color'), 0, 0, w, h)
+    place_frame(processed_frames.get('depth'), w, 0, width, h)
+
+    # Handle IR display in bottom row
+    has_left_ir = processed_frames.get('left_ir') is not None
+    has_right_ir = processed_frames.get('right_ir') is not None
+    has_single_ir = processed_frames.get('ir') is not None
+
+    if has_left_ir and has_right_ir:
+        # Show stereo IR in bottom row
+        place_frame(processed_frames['left_ir'], 0, h, w, height)
+        place_frame(processed_frames['right_ir'], w, h, width, height)
+    elif has_single_ir:
+        # Show single IR in bottom-left quadrant
+        place_frame(processed_frames['ir'], 0, h, w, height)
+
+    # Add labels to identify each stream
+    font = cv2.FONT_HERSHEY_SIMPLEX
+    font_scale = 0.8
+    font_color = (255, 255, 255)
+    font_thickness = 2
+
+    # Helper function for adding labels
+    def add_label(text, x, y):
+        cv2.putText(display, text, (x + 10, y + 30), font, font_scale,
+                   font_color, font_thickness)
+
+    # Add labels for each quadrant
+    add_label("Color", 0, 0)
+    add_label("Depth", w, 0)
+
+    if has_left_ir and has_right_ir:
+        add_label("Left IR", 0, h)
+        add_label("Right IR", w, h)
+    elif has_single_ir:
+        add_label("IR", 0, h)
+
+    return display
+
+def rendering_frames():
+    """Main rendering loop for processing and displaying frames"""
+    global frames_queue, stop_rendering
+
+    # Create and configure display window
+    cv2.namedWindow("Orbbec Camera Viewer", cv2.WINDOW_NORMAL)
+    cv2.resizeWindow("Orbbec Camera Viewer", 1280, 720)
+
+    while not stop_rendering:
+        if frames_queue.empty():
+            continue
+
+        frame_set = frames_queue.get()
+        if frame_set is None:
+            continue
+
+        # Process all available frames
+        processed_frames = {
+            'color': process_color(frame_set),
+            'depth': process_depth(frame_set),
+        }
+
+        # Process IR frames with better error handling
+        try:
+            left_ir = process_ir(frame_set, OBFrameType.LEFT_IR_FRAME)
+            right_ir = process_ir(frame_set, OBFrameType.RIGHT_IR_FRAME)
+            if left_ir is not None and right_ir is not None:
+                processed_frames['left_ir'] = left_ir
+                processed_frames['right_ir'] = right_ir
+            else:
+                # Try single IR if stereo IR is not available
+                ir = process_ir(frame_set, OBFrameType.IR_FRAME)
+                if ir is not None:
+                    processed_frames['ir'] = ir
+        except:
+            # Fallback to single IR in case of any error
+            try:
+                ir = process_ir(frame_set, OBFrameType.IR_FRAME)
+                if ir is not None:
+                    processed_frames['ir'] = ir
+            except:
+                pass
+
+        # Create and display the combined view
+        display = create_display(processed_frames)
+        cv2.imshow("Orbbec Camera Viewer", display)
+
+        # Check for exit key
+        key = cv2.waitKey(1)
+        if key in [ord('q'), ESC_KEY]:
+            return
+
+def main():
+    """Main function to initialize and run the camera viewer"""
+    global stop_rendering
+    config = Config()
+    pipeline = Pipeline()
+
+    try:
+        # Initialize pipeline and config
+
+
+        # Get device and sensor information
+        device = pipeline.get_device()
+        sensor_list = device.get_sensor_list()
+
+        # Enable all available video streams
+        for sensor in range(len(sensor_list)):
+            sensor_type = sensor_list[sensor].get_type()
+            if sensor_type in video_sensor_types:
+                try:
+                    print(f"Enabling sensor type: {sensor_type}")
+                    config.enable_stream(sensor_type)
+                except:
+                    print(f"Failed to enable sensor type: {sensor_type}")
+                    continue
+
+        # Start pipeline with callback
+        pipeline.start(config, lambda frames: on_new_frame_callback(frames))
+
+        # Start rendering frames
+        try:
+            rendering_frames()
+        except KeyboardInterrupt:
+            stop_rendering = True
+
+    except Exception as e:
+        print(f"Error: {str(e)}")
+
+        # Cleanup
+    stop_rendering = True
+    pipeline.stop()
+    cv2.destroyAllWindows()
+
+
+if __name__ == "__main__":
+    main()

pyorbbec-1.0.1.9/src/pyorbbecsdk/examples/color.py

@@ -0,0 +1,64 @@
+# ******************************************************************************
+#  Copyright (c) 2024 Orbbec 3D Technology, Inc
+#  
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.  
+#  You may obtain a copy of the License at
+#  
+#      http:# www.apache.org/licenses/LICENSE-2.0
+#  
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+# ******************************************************************************
+import cv2
+
+from pyorbbecsdk import *
+from utils import frame_to_bgr_image
+
+ESC_KEY = 27
+
+
+def main():
+    config = Config()
+    pipeline = Pipeline()
+    try:
+        profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
+        try:
+            color_profile: VideoStreamProfile = profile_list.get_video_stream_profile(640, 0, OBFormat.RGB, 30)
+        except OBError as e:
+            print(e)
+            color_profile = profile_list.get_default_video_stream_profile()
+            print("color profile: ", color_profile)
+        config.enable_stream(color_profile)
+    except Exception as e:
+        print(e)
+        return
+    pipeline.start(config)
+    while True:
+        try:
+            frames: FrameSet = pipeline.wait_for_frames(100)
+            if frames is None:
+                continue
+            color_frame = frames.get_color_frame()
+            if color_frame is None:
+                continue
+            # covert to RGB format
+            color_image = frame_to_bgr_image(color_frame)
+            if color_image is None:
+                print("failed to convert frame to image")
+                continue
+            cv2.imshow("Color Viewer", color_image)
+            key = cv2.waitKey(1)
+            if key == ord('q') or key == ESC_KEY:
+                break
+        except KeyboardInterrupt:
+            break
+    cv2.destroyAllWindows()
+    pipeline.stop()
+
+
+if __name__ == "__main__":
+    main()

pyorbbec-1.0.1.9/src/pyorbbecsdk/examples/coordinate_transform.py

@@ -0,0 +1,184 @@
+# ******************************************************************************
+#  Copyright (c) 2024 Orbbec 3D Technology, Inc
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http:# www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+# ******************************************************************************
+
+import numpy as np
+
+import pyorbbecsdk as ob
+
+ESC_KEY = 27
+
+
+def print_help():
+    print("Supported commands:")
+    print("Press '1' to transform 2D point to 2D point")
+    print("Press '2' to transform 2D point to 3D point")
+    print("Press '3' to transform 3D point to 3D point")
+    print("Press '4' to transform 3D point to 2D point")
+    print("--------------------------------------------")
+    print("Press Ctrl+C to exit the program")
+
+
+def get_frame_data(color_frame, depth_frame):
+    color_frame = color_frame.as_video_frame()
+    depth_frame = depth_frame.as_video_frame()
+
+    depth_width = depth_frame.get_width()
+    depth_height = depth_frame.get_height()
+
+    color_profile = color_frame.get_stream_profile()
+    depth_profile = depth_frame.get_stream_profile()
+    print("video profile:", color_profile.as_video_stream_profile())
+    color_intrinsics = color_profile.as_video_stream_profile().get_intrinsic()
+    color_distortion = color_profile.as_video_stream_profile().get_distortion()
+    depth_intrinsics = depth_profile.as_video_stream_profile().get_intrinsic()
+    depth_distortion = depth_profile.as_video_stream_profile().get_distortion()
+
+    extrinsic = depth_profile.get_extrinsic_to(color_profile)
+
+    depth_data = np.frombuffer(depth_frame.get_data(), dtype=np.uint16).reshape(depth_height, depth_width)
+
+    return (color_intrinsics, color_distortion, depth_intrinsics, depth_distortion,
+            extrinsic, depth_data, depth_width, depth_height)
+
+
+def transform_points(transform_func, color_frame, depth_frame, dimension):
+    (color_intrinsics, color_distortion, depth_intrinsics, depth_distortion,
+     extrinsic, depth_data, depth_width, depth_height) = get_frame_data(color_frame, depth_frame)
+
+    convert_width, convert_height = 3, 3
+    for i in range(depth_width // 2, depth_width // 2 + convert_width):
+        for j in range(depth_height // 2, depth_height // 2 + convert_height):
+            depth = depth_data[j, i]
+            x, y = float(i), float(j)
+            original_point = (x, y, depth)
+            if depth > 0:
+                if dimension == "2d_to_2d":
+                    res = transform_func(ob.OBPoint2f(x, y), depth, depth_intrinsics, depth_distortion,
+                                         color_intrinsics, color_distortion, extrinsic)
+                elif dimension == "2d_to_3d":
+                    res = transform_func(ob.OBPoint2f(x, y), depth, depth_intrinsics, extrinsic)
+                elif dimension == "3d_to_3d":
+                    res = transform_func(ob.OBPoint3f(x, y, depth), extrinsic)
+                elif dimension == "3d_to_2d":
+                    res = transform_func(ob.OBPoint3f(x, y, depth), color_intrinsics, color_distortion, extrinsic)
+                print(f"\n--- {dimension.replace('_', ' to ')} Point Transformation ---")
+                print(f"Original point: {original_point}")
+                print(f"Transformed point: {res}")
+                print(f"--------------------------------------------")
+            else:
+                print("Depth is 0")
+
+
+from pynput import keyboard
+
+# Global variable to track the key that was pressed
+key_pressed = None
+
+
+def on_press(key):
+    global key_pressed
+    try:
+        # Try to get the character key that was pressed
+        key_pressed = key.char
+    except AttributeError:
+        # Handle special keys like 'ESC'
+        if key == keyboard.Key.esc:
+            key_pressed = 'esc'
+
+
+def main():
+    print_help()  # Display help menu
+    config = ob.Config()  # Initialize the config for the pipeline
+    pipeline = ob.Pipeline()  # Create the pipeline object
+
+    try:
+        # Enable depth and color sensors
+        for sensor_type in [ob.OBSensorType.DEPTH_SENSOR, ob.OBSensorType.COLOR_SENSOR]:
+            profile_list = pipeline.get_stream_profile_list(sensor_type)
+            assert profile_list is not None
+            profile = profile_list.get_default_video_stream_profile()
+            assert profile is not None
+            print(f"{sensor_type} profile:", profile)
+            config.enable_stream(profile)  # Enable the stream for the sensor
+    except Exception as e:
+        print(e)
+        return
+
+    print("start pipeline")
+    pipeline.start(config)  # Start the pipeline with the config
+
+    # Dictionary mapping key input to transformation functions and dimension types
+    transform_functions = {
+        '1': (ob.transformation2dto2d, "2d_to_2d"),
+        '2': (ob.transformation2dto3d, "2d_to_3d"),
+        '3': (ob.transformation3dto3d, "3d_to_3d"),
+        '4': (ob.transformation3dto2d, "3d_to_2d")
+    }
+
+    # Start the keyboard listener to capture key presses
+    listener = keyboard.Listener(on_press=on_press)
+    listener.start()
+
+    while True:
+        try:
+            # Wait for frames from the pipeline (with a timeout of 100 ms)
+            frames = pipeline.wait_for_frames(100)
+            if frames is None:
+                continue
+
+            # Get depth and color frames from the captured frames
+            depth_frame = frames.get_depth_frame()
+            color_frame = frames.get_color_frame()
+
+            # Skip iteration if depth or color frame is not available
+            if depth_frame is None or color_frame is None:
+                continue
+
+            # check depth frame data size, if not match, print error
+            depth_width = depth_frame.get_width()
+            depth_height = depth_frame.get_height()
+            depth_data_size = depth_frame.get_data_size()
+            if depth_data_size != depth_width * depth_height * 2:
+                print("Error: depth frame data size does not match")
+                continue
+
+            # Check if a key was pressed
+            global key_pressed
+            if key_pressed:
+                # Convert the pressed key to lowercase
+                key = key_pressed.lower()
+                key_pressed = None  # Reset key_pressed after handling it
+
+                # Check if the key corresponds to a transformation function
+                if key in transform_functions:
+                    print("Transforming points...")
+                    transform_func, dimension = transform_functions[key]
+                    transform_points(transform_func, color_frame, depth_frame, dimension)
+                elif key in ['q', 'esc']:  # Exit if 'q' or 'esc' is pressed
+                    break
+                elif key == 'h':  # Display help if 'h' is pressed
+                    print_help()
+
+        except KeyboardInterrupt:
+            break
+
+    # Stop the pipeline and keyboard listener
+    pipeline.stop()
+    listener.stop()
+
+
+if __name__ == "__main__":
+    main()