This section introduces the Orbbec SDK in C++. Its architecture and concepts are consistent with those of the Python Wrapper.
## Terms
| ID | Name | Explain |
| --- | --- | --- |
| 1 | USB | Universal Serial Bus |
| 2 | UVC | USB Video Class |
| 3 | Firmware | Firmware of 3D camera |
| 4 | Disparity | Disparity is to observe the direction difference of the same target from two points with a certain distance. |
| 5 | D2D (Disparity to depth) | Disparity to depth is an image processing technique used to convert disparity information into depth information. |
| 6 | Hardware D2D | Disparity to depth is implemented internally in the device, without occupying the computational power of the host computer. |
| 7 | Software D2D | Disparity to depth, implemented in Orbbec SDK |
| 8 | Depth point cloud | Depth point cloud, the coordinates of points in a three-dimensional world coordinate system, can be transformed into a point cloud using the intrinsic parameters of a Depth camera. |
| 9 | RGBD point cloud | Point cloud with overlaid RGB information |
| 10 | D2C | The translation of "Depth to Color" is a feature that performs per-pixel geometric transformation on a depth image. Its result is aligning the depth image with its corresponding color image through the D2C transformation, allowing us to locate the depth information of a color pixel by using the same image coordinate position of that pixel in the transformed depth image. After the D2C transformation, we generate a depth image of the same size as the target color image, where the image content represents depth data in the coordinate system of the color camera. In other words, it reconstructs a depth image "captured" using the origin and dimensions of the color camera, where each pixel matches the corresponding pixel coordinates of the color camera. |
| 11 | Hardware D2C | Hardware D2C refers to the functionality of performing Depth to Color transformation within the camera itself, with the camera directly outputting the result of the D2C transformation. |
| 12 | Software D2C | Performing D2C computation on the host computer side using an SDK. |
| 13 | Frame aggregation (FrameSet) | Combining Depth, IR, and Color frames into a Frameset and invoking it through a pipeline. |
| 14 | C2D | The translation of "Color to Depth" is a feature that performs per-pixel geometric transformation on a color image. Its result is aligning the color image with its corresponding depth image through the C2D transformation. |
| 15 | MetaData | Frame metadata is a set of parameters (or attributes) that provide a snapshot of the sensor configuration and/or system state present during the frame’s generation. |
| 16 | HDR | High Dynamic Range (HDR) imaging allows imaging systems to capture images in extremely dark and bright scenes alike. We propose a software solution running on the host CPU to implement this feature. It utilizes data from two consecutive frames and directly synthesizes these two depth images, thereby enhances the dynamic range of 16-bit depth images. |
Context which provides a set of settings includes settings such as device state change callbacks, log levels, and more. The Context can access multiple devices.
The HighLevel corresponding object encapsulates the interface for quick access to the SDK. It has simple functions that allow users to quickly get started and use the SDK.
