怎么同时获取rgb，D2C的点云和imu

[mcmingchang]

profile_list = self.pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
color_profile = profile_list.get_video_stream_profile(self.img_w, self.img_h, OBFormat.RGB, self.fps)
profile_list = self.pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
depth_profile = profile_list.get_video_stream_profile(self.img_w, self.img_h, OBFormat.Y16, self.fps)
self.config.enable_stream(color_profile)
self.config.enable_stream(depth_profile)
self.config.set_frame_aggregate_output_mode(OBFrameAggregateOutputMode.FULL_FRAME_REQUIRE)
self.pipeline.enable_frame_sync()

以上是获取rgb和d2c的配置，但是使用imu的话需要设置enable_accel_stream和enable_gyro_stream，跟以上代码是冲突的

[gongye2]

Hi @mcmingchang, thanks for the clear report.

The "conflict" you are seeing comes from mixing two configuration patterns. enable_stream(color_profile) / enable_stream(depth_profile) and enable_accel_stream() / enable_gyro_stream() are not mutually exclusive — you can call all of them on the same Config object, and then start a single Pipeline with that config.

In other words:

config = Config()

# 1. Video streams
config.enable_stream(color_profile)
config.enable_stream(depth_profile)

# 2. IMU streams — on the SAME config
config.enable_accel_stream()
config.enable_gyro_stream()

# 3. Start one pipeline with everything
config.set_frame_aggregate_output_mode(OBFrameAggregateOutputMode.FULL_FRAME_REQUIRE)
pipeline.enable_frame_sync()
pipeline.start(config)

After pipeline.wait_for_frames(), you can read both video and IMU data from the returned FrameSet:

frames = pipeline.wait_for_frames(100)

# IMU
accel = frames.get_accel_frame()
gyro  = frames.get_gyro_frame()

# Video
color = frames.get_color_frame()
depth = frames.get_depth_frame()

So you do not need a second pipeline or a separate configuration path for IMU.

rgb_d2c_pointcloud_imu.py

Feel free to let me know if anything is unclear or if you run into issues on a specific device model!