mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-03 19:47:46 +08:00
Add extension path
This commit is contained in:
Joe Dong
@@ -19,7 +19,7 @@ OB_EXPORT ob_depth_work_mode ob_device_get_current_depth_work_mode(const ob_devi
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* @brief According the current preset name to return current depth mode name
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* @return const char* return the current depth mode name.
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*/
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OB_EXPORT const char * ob_device_get_current_depth_work_mode_name(const ob_device *device, ob_error **error);
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OB_EXPORT const char *ob_device_get_current_depth_work_mode_name(const ob_device *device, ob_error **error);
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/**
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* @brief Switch the depth work mode by ob_depth_work_mode.
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@@ -151,7 +151,8 @@ OB_EXPORT void ob_device_export_current_settings_as_preset_json_file(ob_device *
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* @param[out] data return the preset json data.
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* @param[out] dataSize return the size of the preset json data.
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*/
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OB_EXPORT void ob_device_export_current_settings_as_preset_json_data(ob_device *device, const char *presetName, const uint8_t **data, uint32_t *dataSize, ob_error **error);
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OB_EXPORT void ob_device_export_current_settings_as_preset_json_data(ob_device *device, const char *presetName, const uint8_t **data, uint32_t *dataSize,
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ob_error **error);
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/**
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* @brief Get the available preset list.
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@@ -199,10 +200,7 @@ OB_EXPORT const char *ob_device_preset_list_get_name(const ob_device_preset_list
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*/
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OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *preset_list, const char *preset_name, ob_error **error);
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/**
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* In order to be compatible with the closed source version of orbbecsdk's interface.
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* We recommend using the latest interface names for a better experience.
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*/
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// The following interfaces are deprecated and are retained here for compatibility purposes.
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#define ob_depth_work_mode_list_count ob_depth_work_mode_list_get_count
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#define ob_device_preset_list_count ob_device_preset_list_get_count
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@@ -86,10 +86,10 @@ OB_EXPORT void ob_set_device_changed_callback(ob_context *context, ob_device_cha
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* @brief Activates device clock synchronization to synchronize the clock of the host and all created devices (if supported).
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*
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* @param[in] context Pointer to the context object
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* @param[in] repeatInterval The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
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* @param[in] repeat_interval_msec The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
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* @param[out] error Pointer to an error object that will be populated if an error occurs during execution
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*/
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OB_EXPORT void ob_enable_device_clock_sync(ob_context *context, uint64_t repeatInterval, ob_error **error);
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OB_EXPORT void ob_enable_device_clock_sync(ob_context *context, uint64_t repeat_interval_msec, ob_error **error);
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/**
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* @brief Free idle memory from the internal frame memory pool
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@@ -138,9 +138,17 @@ OB_EXPORT void ob_set_logger_to_callback(ob_log_severity severity, ob_log_callba
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OB_EXPORT void ob_set_logger_to_console(ob_log_severity severity, ob_error **error);
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/**
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* In order to be compatible with the closed source version of orbbecsdk's interface.
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* We recommend using the latest interface names for a better experience.
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*/
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* @brief Set the extensions directory
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* @brief The extensions directory is used to search for dynamic libraries that provide additional functionality to the SDK， such as the Frame filters.
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*
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* @attention Should be called before creating the context and pipeline, otherwise the default extensions directory (./extensions) will be used.
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*
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* @param directory Path to the extensions directory. If the path is empty, the existing settings will continue to be used (if the existing
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* @param error Pointer to an error object that will be populated if an error occurs during extensions directory setting
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*/
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OB_EXPORT void ob_set_extensions_directory(const char *directory, ob_error **error);
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// The following interfaces are deprecated and are retained here for compatibility purposes.
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#define ob_enable_multi_device_sync ob_enable_device_clock_sync
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#define ob_set_logger_callback ob_set_logger_to_callback
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@@ -152,6 +152,17 @@ OB_EXPORT void ob_device_set_structured_data(ob_device *device, ob_property_id p
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*/
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OB_EXPORT void ob_device_get_structured_data(ob_device *device, ob_property_id property_id, uint8_t *data, uint32_t *data_size, ob_error **error);
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/**
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* @brief Get raw data of a device property.
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*
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* @param[in] device The device object.
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* @param[in] property_id The ID of the property.
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* @param[out] cb The get data callback.
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* @param[out] user_data User-defined data that will be returned in the callback.
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* @param[out] error Pointer to an error object that will be set if an error occurs.
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*/
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OB_EXPORT void ob_device_get_raw_data(ob_device *device, ob_property_id property_id, ob_get_data_callback cb, void *user_data, ob_error **error);
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/**
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* @brief Get the number of properties supported by the device.
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*
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@@ -540,9 +551,10 @@ OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number(const ob_device_
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/**
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* @brief Create device by uid
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* @brief On Linux platform, the uid of the device is composed of bus-port-dev, for example 1-1.2-1. But the SDK will remove the dev number and only keep the
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* bus-port as the uid to create the device, for example 1-1.2, so that we can create a device connected to the specified USB port. Similarly, users can also
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* directly pass in bus-port as uid to create device.
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* @brief On Linux platform, for usb device, the uid of the device is composed of bus-port-dev, for example 1-1.2-1. But the SDK will remove the dev number and
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* only keep the bus-port as the uid to create the device, for example 1-1.2, so that we can create a device connected to the specified USB port. Similarly,
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* users can also directly pass in bus-port as uid to create device.
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* @brief For GMSL device，the uid is GMSL port with “gmsl2-” prefix, for example gmsl2-1.
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*
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* @attention If the device has already been acquired and created elsewhere, repeated acquisitions will return an error.
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*
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@@ -594,11 +606,7 @@ OB_EXPORT ob_camera_param ob_camera_param_list_get_param(ob_camera_param_list *p
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*/
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OB_EXPORT void ob_delete_camera_param_list(ob_camera_param_list *param_list, ob_error **error);
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/**
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* In order to be compatible with the closed source version of orbbecsdk's interface.
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* We recommend using the latest interface names for a better experience.
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*/
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// The following interfaces are deprecated and are retained here for compatibility purposes.
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#define ob_device_list_device_count ob_device_list_get_count
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#define ob_device_list_get_extension_info ob_device_info_get_extension_info
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#define ob_device_upgrade ob_device_update_firmware
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@@ -69,10 +69,7 @@ OB_EXPORT ob_exception_type ob_error_get_exception_type(const ob_error *error);
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*/
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OB_EXPORT void ob_delete_error(ob_error *error);
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/**
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* In order to be compatible with the closed source version of orbbecsdk's interface.
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* We recommend using the latest interface names for a better experience.
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*/
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// The following interfaces are deprecated and are retained here for compatibility purposes.
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#define ob_error_status ob_error_get_status
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#define ob_error_message ob_error_get_message
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#define ob_error_function ob_error_get_function
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@@ -7,7 +7,7 @@
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# define OB_NO_EXPORT
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#else
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# ifndef OB_EXPORT
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# ifdef openobsdk_EXPORTS
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# ifdef OrbbecSDK_EXPORTS
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/* We are building this library */
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# define OB_EXPORT __attribute__((visibility("default")))
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# else
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@@ -75,12 +75,22 @@ OB_EXPORT const char *ob_filter_get_config_schema(const ob_filter *filter, ob_er
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* @brief Get the filter config schema list of the filter
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* @brief The returned string is a list of ob_config_schema_item representing the configuration schema of the filter.
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*
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* @attention The returned list should be deleted by calling @ref ob_delete_filter_config_schema_list when it is no longer needed.
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*
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* @param filter The filter object to get the configuration schema for
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* @param error Pointer to an error object that will be set if an error occurs
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* @return ob_filter_config_schema_list* Return the filter config schema list of the filter
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*/
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OB_EXPORT ob_filter_config_schema_list *ob_filter_get_config_schema_list(const ob_filter *filter, ob_error **error);
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/**
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* @brief Delete a list of filter config schema items.
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*
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* @param config_schema_list The list of filter config schema items to delete.
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* @param error Pointer to an error object that will be set if an error occurs.
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*/
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OB_EXPORT void ob_delete_filter_config_schema_list(ob_filter_config_schema_list *config_schema_list, ob_error **error);
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/**
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* @brief Update config of the filter
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*
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@@ -231,10 +241,8 @@ OB_EXPORT uint32_t ob_filter_config_schema_list_get_count(const ob_filter_config
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*/
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OB_EXPORT ob_filter_config_schema_item ob_filter_config_schema_list_get_item(const ob_filter_config_schema_list *config_schema_list, uint32_t index,
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ob_error **error);
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/**
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* In order to be compatible with the closed source version of orbbecsdk's interface.
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* We recommend using the latest interface names for a better experience.
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*/
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// The following interfaces are deprecated and are retained here for compatibility purposes.
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#define ob_get_filter ob_filter_list_get_filter
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#define ob_get_filter_name ob_filter_get_name
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@@ -600,10 +600,7 @@ OB_EXPORT ob_frame *ob_frameset_get_frame_by_index(const ob_frame *frameset, uin
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*/
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OB_EXPORT void ob_frameset_push_frame(ob_frame *frameset, const ob_frame *frame, ob_error **error);
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/**
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* In order to be compatible with the closed source version of orbbecsdk's interface.
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* We recommend using the latest interface names for a better experience.
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*/
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// The following interfaces are deprecated and are retained here for compatibility purposes.
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#define ob_frame_index ob_frame_get_index
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#define ob_frame_format ob_frame_get_format
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#define ob_frame_time_stamp_us ob_frame_get_timestamp_us
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@@ -1241,7 +1241,7 @@ typedef struct {
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/**
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* @brief The sync mode of the device.
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*/
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ob_multi_device_sync_mode syncMode;
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OBMultiDeviceSyncMode syncMode;
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/**
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* @brief The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.
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@@ -1,9 +1,8 @@
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/**
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* @file Pipeline.h
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* @brief The SDK's advanced API can quickly implement functions such as switching streaming, frame
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* synchronization, software filtering, etc., suitable for applications, and the algorithm focuses
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* on rgbd data stream scenarios. If you are on real-time or need to handle synchronization
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* separately, align the scene. Please use the interface of Device's Lower API.
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* @brief The SDK's advanced API can quickly implement functions such as switching streaming, frame synchronization, software filtering, etc., suitable for
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* applications, and the algorithm focuses on rgbd data stream scenarios. If you are on real-time or need to handle synchronization separately, align the scene.
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* Please use the interface of Device's Lower API.
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*/
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#pragma once
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@@ -53,14 +52,12 @@ OB_EXPORT void ob_pipeline_start(ob_pipeline *pipeline, ob_error **error);
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* @param[in] config Parameters to be configured
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* @param[out] error Pointer to an error object that will be set if an error occurs.
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*/
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OB_EXPORT void ob_pipeline_start_with_config(ob_pipeline *pipeline, const ob_config *config,
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ob_error **error);
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OB_EXPORT void ob_pipeline_start_with_config(ob_pipeline *pipeline, const ob_config *config, ob_error **error);
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/**
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* @brief Start the pipeline and set the frame collection data callback
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*
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* @attention After start the pipeline with this interface, the frames will be output to the
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* callback function and cannot be obtained frames by call
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* @attention After start the pipeline with this interface, the frames will be output to the callback function and cannot be obtained frames by call
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* @ob_pipeline_wait_for_frameset
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*
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* @param[in] pipeline pipeline object
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@@ -69,8 +66,7 @@ OB_EXPORT void ob_pipeline_start_with_config(ob_pipeline *pipeline, const ob_con
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* @param[in] user_data Pass in any user data and get it from the callback
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* @param[out] error Pointer to an error object that will be set if an error occurs.
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*/
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OB_EXPORT void ob_pipeline_start_with_callback(ob_pipeline *pipeline, const ob_config *config,
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ob_frameset_callback callback, void *user_data,
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OB_EXPORT void ob_pipeline_start_with_callback(ob_pipeline *pipeline, const ob_config *config, ob_frameset_callback callback, void *user_data,
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ob_error **error);
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/**
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@@ -98,8 +94,7 @@ OB_EXPORT ob_config *ob_pipeline_get_config(const ob_pipeline *pipeline, ob_erro
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* @param[in] config The pipeline configuration
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* @param[out] error Log error messages
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*/
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OB_EXPORT void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *config,
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ob_error **error);
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OB_EXPORT void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *config, ob_error **error);
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/**
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* @brief Wait for a set of frames to be returned synchronously
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@@ -107,11 +102,9 @@ OB_EXPORT void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *confi
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* @param[in] pipeline The pipeline object
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* @param[in] timeout_ms The timeout for waiting (in milliseconds)
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* @param[out] error Pointer to an error object that will be set if an error occurs.
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* @return ob_frame* The frameset that was waited for. A frameset is a special frame that can be
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* used to obtain independent frames from the set.
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* @return ob_frame* The frameset that was waited for. A frameset is a special frame that can be used to obtain independent frames from the set.
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*/
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OB_EXPORT ob_frame *ob_pipeline_wait_for_frameset(ob_pipeline *pipeline, uint32_t timeout_ms,
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ob_error **error);
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OB_EXPORT ob_frame *ob_pipeline_wait_for_frameset(ob_pipeline *pipeline, uint32_t timeout_ms, ob_error **error);
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/**
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* @brief Get the device object associated with the pipeline
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@@ -126,19 +119,15 @@ OB_EXPORT ob_device *ob_pipeline_get_device(const ob_pipeline *pipeline, ob_erro
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* @brief Get the stream profile list associated with the pipeline
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*
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* @param[in] pipeline The pipeline object
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* @param[in] sensorType The sensor type. The supported sensor types can be obtained through the
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* ob_device_get_sensor_list() interface.
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* @param[in] sensorType The sensor type. The supported sensor types can be obtained through the ob_device_get_sensor_list() interface.
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* @param[out] error Pointer to an error object that will be set if an error occurs.
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* @return ob_stream_profile_list* The stream profile list
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*/
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OB_EXPORT ob_stream_profile_list *ob_pipeline_get_stream_profile_list(const ob_pipeline *pipeline,
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ob_sensor_type sensorType,
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ob_error **error);
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OB_EXPORT ob_stream_profile_list *ob_pipeline_get_stream_profile_list(const ob_pipeline *pipeline, ob_sensor_type sensorType, ob_error **error);
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/**
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* @brief Enable frame synchronization
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* @brief Synchronize the frames of different streams by using the timestamp information of the
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* frames.
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* @brief Synchronize the frames of different streams by using the timestamp information of the frames.
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* @brief Dynamically (when pipeline is started) enable/disable frame synchronization is allowed.
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*
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* @param[in] pipeline The pipeline object
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@@ -155,8 +144,7 @@ OB_EXPORT void ob_pipeline_enable_frame_sync(ob_pipeline *pipeline, ob_error **e
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OB_EXPORT void ob_pipeline_disable_frame_sync(ob_pipeline *pipeline, ob_error **error);
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/**
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* @brief Return a list of D2C-enabled depth sensor resolutions corresponding to the input color
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* sensor resolution
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* @brief Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution
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*
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* @param[in] pipeline The pipeline object
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* @param[in] color_profile The input profile of the color sensor
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@@ -164,9 +152,8 @@ OB_EXPORT void ob_pipeline_disable_frame_sync(ob_pipeline *pipeline, ob_error **
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* @param[out] error Pointer to an error object that will be set if an error occurs.
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* @return ob_stream_profile_list* The list of D2C-enabled depth sensor resolutions
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*/
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OB_EXPORT ob_stream_profile_list *ob_get_d2c_depth_profile_list(
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const ob_pipeline *pipeline, const ob_stream_profile *color_profile, ob_align_mode align_mode,
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ob_error **error);
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OB_EXPORT ob_stream_profile_list *ob_get_d2c_depth_profile_list(const ob_pipeline *pipeline, const ob_stream_profile *color_profile, ob_align_mode align_mode,
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ob_error **error);
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/**
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* @brief Create the pipeline configuration
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@@ -191,8 +178,7 @@ OB_EXPORT void ob_delete_config(ob_config *config, ob_error **error);
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* @param[in] stream_type The type of the stream to be enabled
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* @param[out] error Pointer to an error object that will be set if an error occurs.
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*/
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OB_EXPORT void ob_config_enable_stream(ob_config *config, ob_stream_type stream_type,
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ob_error **error);
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OB_EXPORT void ob_config_enable_stream(ob_config *config, ob_stream_type stream_type, ob_error **error);
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/**
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* @brief Enable all streams in the pipeline configuration
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@@ -209,15 +195,12 @@ OB_EXPORT void ob_config_enable_all_stream(ob_config *config, ob_error **error);
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* @param[in] profile The stream profile to be enabled
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* @param[out] error Pointer to an error object that will be set if an error occurs.
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*/
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OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config,
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const ob_stream_profile *profile,
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ob_error **error);
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OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config, const ob_stream_profile *profile, ob_error **error);
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/**
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* @brief Enable video stream with specified parameters
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*
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* @attention The stream_type should be a video stream type, such as OB_STREAM_IR, OB_STREAM_COLOR,
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* OB_STREAM_DEPTH, etc.
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* @attention The stream_type should be a video stream type, such as OB_STREAM_IR, OB_STREAM_COLOR, OB_STREAM_DEPTH, etc.
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*
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* @param config[in] The pipeline configuration object
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* @param stream_type[in] The type of the stream to be enabled
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@@ -227,9 +210,8 @@ OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config,
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* @param format[in] The format of the video stream
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* @param error[out] Pointer to an error object that will be set if an error occurs.
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*/
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OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type stream_type,
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uint32_t width, uint32_t height, uint32_t fps,
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ob_format format, ob_error **error);
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OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type stream_type, uint32_t width, uint32_t height, uint32_t fps, ob_format format,
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ob_error **error);
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/**
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* @brief Enable accelerometer stream with specified parameters
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@@ -239,9 +221,7 @@ OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type s
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* @param sample_rate[in] The sample rate of the accelerometer
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* @param error[out] Pointer to an error object that will be set if an error occurs.
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*/
|
||||
OB_EXPORT void ob_config_enable_accel_stream(ob_config *config,
|
||||
ob_accel_full_scale_range full_scale_range,
|
||||
ob_accel_sample_rate sample_rate, ob_error **error);
|
||||
OB_EXPORT void ob_config_enable_accel_stream(ob_config *config, ob_accel_full_scale_range full_scale_range, ob_accel_sample_rate sample_rate, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Enable gyroscope stream with specified parameters
|
||||
@@ -251,20 +231,16 @@ OB_EXPORT void ob_config_enable_accel_stream(ob_config *config,
|
||||
* @param sample_rate[in] The sample rate of the gyroscope
|
||||
* @param error[out] Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_config_enable_gyro_stream(ob_config *config,
|
||||
ob_gyro_full_scale_range full_scale_range,
|
||||
ob_gyro_sample_rate sample_rate, ob_error **error);
|
||||
OB_EXPORT void ob_config_enable_gyro_stream(ob_config *config, ob_gyro_full_scale_range full_scale_range, ob_gyro_sample_rate sample_rate, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Get the enabled stream profile list in the pipeline configuration
|
||||
*
|
||||
* @param config The pipeline configuration object
|
||||
* @param error Pointer to an error object that will be set if an error occurs.
|
||||
* @return ob_stream_profile_list* The enabled stream profile list, should be released by @ref
|
||||
* ob_delete_stream_profile_list after use
|
||||
* @return ob_stream_profile_list* The enabled stream profile list, should be released by @ref ob_delete_stream_profile_list after use
|
||||
*/
|
||||
OB_EXPORT ob_stream_profile_list *ob_config_get_enabled_stream_profile_list(const ob_config *config,
|
||||
ob_error **error);
|
||||
OB_EXPORT ob_stream_profile_list *ob_config_get_enabled_stream_profile_list(const ob_config *config, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Disable a specific stream in the pipeline configuration
|
||||
@@ -294,35 +270,28 @@ OB_EXPORT void ob_config_set_align_mode(ob_config *config, ob_align_mode mode, o
|
||||
|
||||
/**
|
||||
* @brief Set whether depth scaling is required after enable depth to color alignment
|
||||
* @brief After enabling depth to color alignment, the depth image may need to be scaled to match
|
||||
* the color image size.
|
||||
* @brief After enabling depth to color alignment, the depth image may need to be scaled to match the color image size.
|
||||
*
|
||||
* @param[in] config The pipeline configuration object
|
||||
* @param[in] enable Whether scaling is required
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_config_set_depth_scale_after_align_require(ob_config *config, bool enable,
|
||||
ob_error **error);
|
||||
OB_EXPORT void ob_config_set_depth_scale_after_align_require(ob_config *config, bool enable, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Set the frame aggregation output mode for the pipeline configuration
|
||||
* @brief The processing strategy when the FrameSet generated by the frame aggregation function does
|
||||
* not contain the frames of all opened streams (which can be caused by different frame rates of
|
||||
* each stream, or by the loss of frames of one stream): drop directly or output to the user.
|
||||
* @brief The processing strategy when the FrameSet generated by the frame aggregation function does not contain the frames of all opened streams (which
|
||||
* can be caused by different frame rates of each stream, or by the loss of frames of one stream): drop directly or output to the user.
|
||||
*
|
||||
* @param[in] config The pipeline configuration object
|
||||
* @param[in] mode The frame aggregation output mode to be set (default mode is @ref
|
||||
* OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
|
||||
* @param[in] mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_config_set_frame_aggregate_output_mode(ob_config *config,
|
||||
ob_frame_aggregate_output_mode mode,
|
||||
ob_error **error);
|
||||
OB_EXPORT void ob_config_set_frame_aggregate_output_mode(ob_config *config, ob_frame_aggregate_output_mode mode, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Get current camera parameters
|
||||
* @attention If D2C is enabled, it will return the camera parameters after D2C, if not, it will
|
||||
* return to the default parameters
|
||||
* @attention If D2C is enabled, it will return the camera parameters after D2C, if not, it will return to the default parameters
|
||||
*
|
||||
* @param[in] pipeline pipeline object
|
||||
* @param[out] error Log error messages
|
||||
@@ -341,9 +310,8 @@ OB_EXPORT ob_camera_param ob_pipeline_get_camera_param(ob_pipeline *pipeline, ob
|
||||
* @param[out] error Log error messages
|
||||
* @return ob_camera_param returns camera internal parameters
|
||||
*/
|
||||
OB_EXPORT ob_camera_param ob_pipeline_get_camera_param_with_profile(
|
||||
ob_pipeline *pipeline, uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth,
|
||||
uint32_t depthHeight, ob_error **error);
|
||||
OB_EXPORT ob_camera_param ob_pipeline_get_camera_param_with_profile(ob_pipeline *pipeline, uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth,
|
||||
uint32_t depthHeight, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Get device calibration parameters with the specified configuration
|
||||
@@ -353,14 +321,9 @@ OB_EXPORT ob_camera_param ob_pipeline_get_camera_param_with_profile(
|
||||
* @param[out] error Log error messages
|
||||
* @return ob_calibration_param The calibration parameters
|
||||
*/
|
||||
OB_EXPORT ob_calibration_param ob_pipeline_get_calibration_param(ob_pipeline *pipeline,
|
||||
ob_config *config,
|
||||
ob_error **error);
|
||||
OB_EXPORT ob_calibration_param ob_pipeline_get_calibration_param(ob_pipeline *pipeline, ob_config *config, ob_error **error);
|
||||
|
||||
/**
|
||||
* In order to be compatible with the closed source version of orbbecsdk's interface.
|
||||
* We recommend using the latest interface names for a better experience.
|
||||
*/
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
#define ob_config_set_depth_scale_require ob_config_set_depth_scale_after_align_require
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@@ -440,6 +440,13 @@ typedef enum {
|
||||
*/
|
||||
OB_PROP_DISP_SEARCH_RANGE_MODE_INT = 191,
|
||||
|
||||
/**
|
||||
* @brief Repower device (cut off power and power on again)
|
||||
*
|
||||
* @brief Currently using for GMSL device, cut off power and power on again by GMSL host driver.
|
||||
*/
|
||||
OB_PROP_DEVICE_REPOWER_BOOL = 202,
|
||||
|
||||
/**
|
||||
* @brief Baseline calibration parameters
|
||||
*/
|
||||
|
||||
@@ -65,14 +65,14 @@ OB_EXPORT void ob_sensor_switch_profile(ob_sensor *sensor, ob_stream_profile *pr
|
||||
OB_EXPORT void ob_delete_sensor(ob_sensor *sensor, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Request the list of recommended filter list.
|
||||
* @brief Create a list of recommended filters for the specified sensor.
|
||||
*
|
||||
* @param[in] sensor The ob_sensor object.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*
|
||||
* @return ob_filter_list
|
||||
*/
|
||||
OB_EXPORT ob_filter_list *ob_sensor_get_recommended_filter_list(const ob_sensor *sensor, ob_error **error);
|
||||
OB_EXPORT ob_filter_list *ob_sensor_create_recommended_filter_list(const ob_sensor *sensor, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Get the number of sensors in the sensor list.
|
||||
@@ -122,6 +122,7 @@ OB_EXPORT ob_sensor *ob_sensor_list_get_sensor(const ob_sensor_list *sensor_list
|
||||
OB_EXPORT void ob_delete_sensor_list(ob_sensor_list *sensor_list, ob_error **error);
|
||||
|
||||
#define ob_sensor_list_get_sensor_count ob_sensor_list_get_count
|
||||
#define ob_sensor_get_recommended_filter_list ob_sensor_create_recommended_filter_list
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
@@ -387,10 +387,7 @@ OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_gyro_stream_profile(cons
|
||||
*/
|
||||
OB_EXPORT void ob_delete_stream_profile_list(const ob_stream_profile_list *profile_list, ob_error **error);
|
||||
|
||||
/**
|
||||
* In order to be compatible with the closed source version of orbbecsdk's interface.
|
||||
* We recommend using the latest interface names for a better experience.
|
||||
*/
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
#define ob_stream_profile_format ob_stream_profile_get_format
|
||||
#define ob_stream_profile_type ob_stream_profile_get_type
|
||||
#define ob_video_stream_profile_fps ob_video_stream_profile_get_fps
|
||||
|
||||
@@ -75,14 +75,14 @@ OB_EXPORT ob_frame *transformation_depth_frame_to_color_camera(ob_device *device
|
||||
uint32_t target_color_camera_height, ob_error **error);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
bool transformation_init_xy_tables(const ob_calibration_param calibration_param, const ob_sensor_type sensor_type, float *data, uint32_t *data_size,
|
||||
OB_EXPORT bool transformation_init_xy_tables(const ob_calibration_param calibration_param, const ob_sensor_type sensor_type, float *data, uint32_t *data_size,
|
||||
ob_xy_tables *xy_tables, ob_error **error);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error);
|
||||
OB_EXPORT void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
void transformation_depth_to_rgbd_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data,
|
||||
OB_EXPORT void transformation_depth_to_rgbd_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data,
|
||||
ob_error **error);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
|
||||
@@ -125,9 +125,9 @@ public:
|
||||
*
|
||||
* @param repeatInterval The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
|
||||
*/
|
||||
void enableDeviceClockSync(uint64_t repeatInterval) const {
|
||||
void enableDeviceClockSync(uint64_t repeatIntervalMsec) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_enable_device_clock_sync(impl_, repeatInterval, &error);
|
||||
ob_enable_device_clock_sync(impl_, repeatIntervalMsec, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
@@ -189,6 +189,20 @@ public:
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Set the extensions directory
|
||||
* @brief The extensions directory is used to search for dynamic libraries that provide additional functionality to the SDK， such as the Frame filters.
|
||||
*
|
||||
* @attention Should be called before creating the context and pipeline, otherwise the default extensions directory (./extensions) will be used.
|
||||
*
|
||||
* @param directory Path to the extensions directory. If the path is empty, the existing settings will continue to be used (if the existing
|
||||
*/
|
||||
static void setExtensionsDirectory(const char *directory) {
|
||||
ob_error *error = nullptr;
|
||||
ob_set_extensions_directory(directory, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
private:
|
||||
static void deviceChangedCallback(ob_device_list *removedList, ob_device_list *addedList, void *userData) {
|
||||
auto ctx = static_cast<Context *>(userData);
|
||||
|
||||
@@ -1112,9 +1112,10 @@ public:
|
||||
|
||||
/**
|
||||
* @brief Get the specified device object from the device list by uid
|
||||
* @brief On Linux platform, the uid of the device is composed of bus-port-dev, for example 1-1.2-1. But the SDK will remove the dev number and only keep
|
||||
* the bus-port as the uid to create the device, for example 1-1.2, so that we can create a device connected to the specified USB port. Similarly, users can
|
||||
* also directly pass in bus-port as uid to create device.
|
||||
* @brief On Linux platform, for usb device, the uid of the device is composed of bus-port-dev, for example 1-1.2-1. But the SDK will remove the dev number
|
||||
* and only keep the bus-port as the uid to create the device, for example 1-1.2, so that we can create a device connected to the specified USB port.
|
||||
* Similarly, users can also directly pass in bus-port as uid to create device.
|
||||
* @brief For GMSL device，the uid is GMSL port with “gmsl2-” prefix, for example gmsl2-1.
|
||||
*
|
||||
* @attention If the device has been acquired and created elsewhere, repeated acquisition will throw an exception
|
||||
*
|
||||
@@ -1324,4 +1325,4 @@ public:
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace ob
|
||||
} // namespace ob
|
||||
|
||||
@@ -101,13 +101,9 @@ public:
|
||||
return impl_->message;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief (Deprecated) Returns the name of the function where the exception occurred.
|
||||
* @brief Use the getFunction() function instead.
|
||||
*
|
||||
* @return const char* The function name.
|
||||
*/
|
||||
OB_DEPRECATED const char *getName() const noexcept {
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
const char *getName() const noexcept {
|
||||
return impl_->function;
|
||||
}
|
||||
};
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -345,8 +345,9 @@ public:
|
||||
return getIndex();
|
||||
}
|
||||
|
||||
virtual uint8_t *data() const {
|
||||
return getData();
|
||||
virtual void *data() const {
|
||||
auto data = getData();
|
||||
return reinterpret_cast<void *>(data);
|
||||
}
|
||||
|
||||
virtual uint32_t dataSize() const {
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @file Pipeline.hpp
|
||||
* @brief The SDK's advanced API type can quickly implement switching streaming and frame
|
||||
* synchronization operations.
|
||||
* @brief The SDK's advanced API type can quickly implement switching streaming and frame synchronization
|
||||
* operations.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
@@ -23,446 +23,426 @@ namespace ob {
|
||||
* The Config class provides an interface for configuring pipeline parameters.
|
||||
*/
|
||||
class Config {
|
||||
private:
|
||||
ob_config_t *impl_;
|
||||
private:
|
||||
ob_config_t *impl_;
|
||||
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Config object
|
||||
*/
|
||||
Config() {
|
||||
ob_error *error = nullptr;
|
||||
impl_ = ob_create_config(&error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
public:
|
||||
/**
|
||||
* @brief Construct a new Config object
|
||||
*/
|
||||
Config() {
|
||||
ob_error *error = nullptr;
|
||||
impl_ = ob_create_config(&error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
explicit Config(ob_config_t *impl) : impl_(impl) {}
|
||||
explicit Config(ob_config_t *impl) : impl_(impl) {}
|
||||
|
||||
/**
|
||||
* @brief Destroy the Config object
|
||||
*/
|
||||
~Config() noexcept {
|
||||
ob_error *error = nullptr;
|
||||
ob_delete_config(impl_, &error);
|
||||
Error::handle(&error, false);
|
||||
}
|
||||
/**
|
||||
* @brief Destroy the Config object
|
||||
*/
|
||||
~Config() noexcept {
|
||||
ob_error *error = nullptr;
|
||||
ob_delete_config(impl_, &error);
|
||||
Error::handle(&error, false);
|
||||
}
|
||||
|
||||
ob_config_t *getImpl() const { return impl_; }
|
||||
ob_config_t *getImpl() const {
|
||||
return impl_;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief enable a stream with a specific stream type
|
||||
*
|
||||
* @param streamType The stream type to be enabled
|
||||
*/
|
||||
void enableStream(OBStreamType streamType) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_stream(impl_, streamType, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief enable a stream with a specific stream type
|
||||
*
|
||||
* @param streamType The stream type to be enabled
|
||||
*/
|
||||
void enableStream(OBStreamType streamType) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_stream(impl_, streamType, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enable a stream with a specific sensor type
|
||||
* @brief Will convert sensor type to stream type automatically.
|
||||
*
|
||||
* @param sensorType The sensor type to be enabled
|
||||
*/
|
||||
void enableStream(OBSensorType sensorType) const {
|
||||
auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
|
||||
enableStream(streamType);
|
||||
}
|
||||
/**
|
||||
* @brief Enable a stream with a specific sensor type
|
||||
* @brief Will convert sensor type to stream type automatically.
|
||||
*
|
||||
* @param sensorType The sensor type to be enabled
|
||||
*/
|
||||
void enableStream(OBSensorType sensorType) const {
|
||||
auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
|
||||
enableStream(streamType);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enable a stream to be used in the pipeline
|
||||
*
|
||||
* @param streamProfile The stream configuration to be enabled
|
||||
*/
|
||||
void enableStream(std::shared_ptr<const StreamProfile> streamProfile) const {
|
||||
ob_error *error = nullptr;
|
||||
auto c_stream_profile = streamProfile->getImpl();
|
||||
ob_config_enable_stream_with_stream_profile(impl_, c_stream_profile, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Enable a stream to be used in the pipeline
|
||||
*
|
||||
* @param streamProfile The stream configuration to be enabled
|
||||
*/
|
||||
void enableStream(std::shared_ptr<const StreamProfile> streamProfile) const {
|
||||
ob_error *error = nullptr;
|
||||
auto c_stream_profile = streamProfile->getImpl();
|
||||
ob_config_enable_stream_with_stream_profile(impl_, c_stream_profile, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enable a video stream to be used in the pipeline.
|
||||
*
|
||||
* This function allows users to enable a video stream with customizable parameters.
|
||||
* If no parameters are specified, the stream will be enabled with default resolution settings.
|
||||
* Users who wish to set custom resolutions should refer to the product manual, as available
|
||||
* resolutions vary by camera model.
|
||||
*
|
||||
* @param type The video stream type.
|
||||
* @param width The video stream width (default is OB_WIDTH_ANY, which selects the default
|
||||
* resolution).
|
||||
* @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default
|
||||
* resolution).
|
||||
* @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame
|
||||
* rate).
|
||||
* @param format The video stream format (default is OB_FORMAT_ANY, which selects the default
|
||||
* format).
|
||||
*/
|
||||
void enableVideoStream(OBStreamType streamType, uint32_t width = OB_WIDTH_ANY,
|
||||
uint32_t height = OB_HEIGHT_ANY, uint32_t fps = OB_FPS_ANY,
|
||||
OBFormat format = OB_FORMAT_ANY) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_video_stream(impl_, streamType, width, height, fps, format, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Enable a video stream to be used in the pipeline.
|
||||
*
|
||||
* This function allows users to enable a video stream with customizable parameters.
|
||||
* If no parameters are specified, the stream will be enabled with default resolution settings.
|
||||
* Users who wish to set custom resolutions should refer to the product manual, as available resolutions vary by camera model.
|
||||
*
|
||||
* @param type The video stream type.
|
||||
* @param width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
|
||||
* @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
|
||||
* @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
|
||||
* @param format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
|
||||
*/
|
||||
void enableVideoStream(OBStreamType streamType, uint32_t width = OB_WIDTH_ANY, uint32_t height = OB_HEIGHT_ANY, uint32_t fps = OB_FPS_ANY,
|
||||
OBFormat format = OB_FORMAT_ANY) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_video_stream(impl_, streamType, width, height, fps, format, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enable a video stream to be used in the pipeline.
|
||||
* @brief Will convert sensor type to stream type automatically.
|
||||
*
|
||||
* @param sensorType The sensor type to be enabled.
|
||||
* @param width The video stream width (default is OB_WIDTH_ANY, which selects the default
|
||||
* resolution).
|
||||
* @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default
|
||||
* resolution).
|
||||
* @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame
|
||||
* rate).
|
||||
* @param format The video stream format (default is OB_FORMAT_ANY, which selects the default
|
||||
* format).
|
||||
*/
|
||||
void enableVideoStream(OBSensorType sensorType, uint32_t width = OB_WIDTH_ANY,
|
||||
uint32_t height = OB_HEIGHT_ANY, uint32_t fps = OB_FPS_ANY,
|
||||
OBFormat format = OB_FORMAT_ANY) const {
|
||||
auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
|
||||
enableVideoStream(streamType, width, height, fps, format);
|
||||
}
|
||||
/**
|
||||
* @brief Enable a video stream to be used in the pipeline.
|
||||
* @brief Will convert sensor type to stream type automatically.
|
||||
*
|
||||
* @param sensorType The sensor type to be enabled.
|
||||
* @param width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
|
||||
* @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
|
||||
* @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
|
||||
* @param format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
|
||||
*/
|
||||
void enableVideoStream(OBSensorType sensorType, uint32_t width = OB_WIDTH_ANY, uint32_t height = OB_HEIGHT_ANY, uint32_t fps = OB_FPS_ANY,
|
||||
OBFormat format = OB_FORMAT_ANY) const {
|
||||
auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
|
||||
enableVideoStream(streamType, width, height, fps, format);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enable an accelerometer stream to be used in the pipeline.
|
||||
*
|
||||
* This function allows users to enable an accelerometer stream with customizable parameters.
|
||||
* If no parameters are specified, the stream will be enabled with default settings.
|
||||
* Users who wish to set custom full-scale ranges or sample rates should refer to the product
|
||||
* manual, as available settings vary by device model.
|
||||
*
|
||||
* @param fullScaleRange The full-scale range of the accelerometer (default is
|
||||
* OB_ACCEL_FULL_SCALE_RANGE_ANY, which selects the default range).
|
||||
* @param sampleRate The sample rate of the accelerometer (default is OB_ACCEL_SAMPLE_RATE_ANY,
|
||||
* which selects the default rate).
|
||||
*/
|
||||
void enableAccelStream(OBAccelFullScaleRange fullScaleRange = OB_ACCEL_FULL_SCALE_RANGE_ANY,
|
||||
OBAccelSampleRate sampleRate = OB_ACCEL_SAMPLE_RATE_ANY) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_accel_stream(impl_, fullScaleRange, sampleRate, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Enable an accelerometer stream to be used in the pipeline.
|
||||
*
|
||||
* This function allows users to enable an accelerometer stream with customizable parameters.
|
||||
* If no parameters are specified, the stream will be enabled with default settings.
|
||||
* Users who wish to set custom full-scale ranges or sample rates should refer to the product manual, as available settings vary by device model.
|
||||
*
|
||||
* @param fullScaleRange The full-scale range of the accelerometer (default is OB_ACCEL_FULL_SCALE_RANGE_ANY, which selects the default range).
|
||||
* @param sampleRate The sample rate of the accelerometer (default is OB_ACCEL_SAMPLE_RATE_ANY, which selects the default rate).
|
||||
*/
|
||||
void enableAccelStream(OBAccelFullScaleRange fullScaleRange = OB_ACCEL_FULL_SCALE_RANGE_ANY,
|
||||
OBAccelSampleRate sampleRate = OB_ACCEL_SAMPLE_RATE_ANY) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_accel_stream(impl_, fullScaleRange, sampleRate, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enable a gyroscope stream to be used in the pipeline.
|
||||
*
|
||||
* This function allows users to enable a gyroscope stream with customizable parameters.
|
||||
* If no parameters are specified, the stream will be enabled with default settings.
|
||||
* Users who wish to set custom full-scale ranges or sample rates should refer to the product
|
||||
* manual, as available settings vary by device model.
|
||||
*
|
||||
* @param fullScaleRange The full-scale range of the gyroscope (default is
|
||||
* OB_GYRO_FULL_SCALE_RANGE_ANY, which selects the default range).
|
||||
* @param sampleRate The sample rate of the gyroscope (default is OB_GYRO_SAMPLE_RATE_ANY, which
|
||||
* selects the default rate).
|
||||
*/
|
||||
void enableGyroStream(OBGyroFullScaleRange fullScaleRange = OB_GYRO_FULL_SCALE_RANGE_ANY,
|
||||
OBGyroSampleRate sampleRate = OB_GYRO_SAMPLE_RATE_ANY) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_gyro_stream(impl_, fullScaleRange, sampleRate, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Enable a gyroscope stream to be used in the pipeline.
|
||||
*
|
||||
* This function allows users to enable a gyroscope stream with customizable parameters.
|
||||
* If no parameters are specified, the stream will be enabled with default settings.
|
||||
* Users who wish to set custom full-scale ranges or sample rates should refer to the product manual, as available settings vary by device model.
|
||||
*
|
||||
* @param fullScaleRange The full-scale range of the gyroscope (default is OB_GYRO_FULL_SCALE_RANGE_ANY, which selects the default range).
|
||||
* @param sampleRate The sample rate of the gyroscope (default is OB_GYRO_SAMPLE_RATE_ANY, which selects the default rate).
|
||||
*/
|
||||
void enableGyroStream(OBGyroFullScaleRange fullScaleRange = OB_GYRO_FULL_SCALE_RANGE_ANY, OBGyroSampleRate sampleRate = OB_GYRO_SAMPLE_RATE_ANY) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_gyro_stream(impl_, fullScaleRange, sampleRate, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @deprecated Use enableStream(std::shared_ptr<StreamProfile> streamProfile) instead
|
||||
* @brief Enable all streams to be used in the pipeline
|
||||
*/
|
||||
void enableAllStream() {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_all_stream(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @deprecated Use enableStream(std::shared_ptr<StreamProfile> streamProfile) instead
|
||||
* @brief Enable all streams to be used in the pipeline
|
||||
*/
|
||||
void enableAllStream() {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_enable_all_stream(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Disable a stream to be used in the pipeline
|
||||
*
|
||||
* @param streamType The stream configuration to be disabled
|
||||
*/
|
||||
void disableStream(OBStreamType streamType) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_disable_stream(impl_, streamType, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Disable a stream to be used in the pipeline
|
||||
*
|
||||
* @param streamType The stream configuration to be disabled
|
||||
*/
|
||||
void disableStream(OBStreamType streamType) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_disable_stream(impl_, streamType, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Disable a sensor stream to be used in the pipeline.
|
||||
* @brief Will convert sensor type to stream type automatically.
|
||||
*
|
||||
* @param sensorType
|
||||
*/
|
||||
void disableStream(OBSensorType sensorType) const {
|
||||
auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
|
||||
disableStream(streamType);
|
||||
}
|
||||
/**
|
||||
* @brief Disable a sensor stream to be used in the pipeline.
|
||||
* @brief Will convert sensor type to stream type automatically.
|
||||
*
|
||||
* @param sensorType
|
||||
*/
|
||||
void disableStream(OBSensorType sensorType) const {
|
||||
auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
|
||||
disableStream(streamType);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Disable all streams to be used in the pipeline
|
||||
*/
|
||||
void disableAllStream() const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_disable_all_stream(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Disable all streams to be used in the pipeline
|
||||
*/
|
||||
void disableAllStream() const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_disable_all_stream(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the Enabled Stream Profile List
|
||||
*
|
||||
* @return std::shared_ptr<StreamProfileList>
|
||||
*/
|
||||
std::shared_ptr<StreamProfileList> getEnabledStreamProfileList() const {
|
||||
ob_error *error = nullptr;
|
||||
auto list = ob_config_get_enabled_stream_profile_list(impl_, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<StreamProfileList>(list);
|
||||
}
|
||||
/**
|
||||
* @brief Get the Enabled Stream Profile List
|
||||
*
|
||||
* @return std::shared_ptr<StreamProfileList>
|
||||
*/
|
||||
std::shared_ptr<StreamProfileList> getEnabledStreamProfileList() const {
|
||||
ob_error *error = nullptr;
|
||||
auto list = ob_config_get_enabled_stream_profile_list(impl_, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<StreamProfileList>(list);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Set the alignment mode
|
||||
*
|
||||
* @param mode The alignment mode
|
||||
*/
|
||||
void setAlignMode(OBAlignMode mode) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_set_align_mode(impl_, mode, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Set the alignment mode
|
||||
*
|
||||
* @param mode The alignment mode
|
||||
*/
|
||||
void setAlignMode(OBAlignMode mode) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_set_align_mode(impl_, mode, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Set whether the depth needs to be scaled after setting D2C
|
||||
*
|
||||
* @param enable Whether scaling is required
|
||||
*/
|
||||
void setDepthScaleRequire(bool enable) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_set_depth_scale_after_align_require(impl_, enable, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Set whether the depth needs to be scaled after setting D2C
|
||||
*
|
||||
* @param enable Whether scaling is required
|
||||
*/
|
||||
void setDepthScaleRequire(bool enable) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_set_depth_scale_after_align_require(impl_, enable, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Set the frame aggregation output mode for the pipeline configuration
|
||||
* @brief The processing strategy when the FrameSet generated by the frame aggregation function
|
||||
* does not contain the frames of all opened streams (which can be caused by different frame rates
|
||||
* of each stream, or by the loss of frames of one stream): drop directly or output to the user.
|
||||
*
|
||||
* @param mode The frame aggregation output mode to be set (default mode is @ref
|
||||
* OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
|
||||
*/
|
||||
void setFrameAggregateOutputMode(OBFrameAggregateOutputMode mode) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_set_frame_aggregate_output_mode(impl_, mode, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Set the frame aggregation output mode for the pipeline configuration
|
||||
* @brief The processing strategy when the FrameSet generated by the frame aggregation function does not contain the frames of all opened streams (which
|
||||
* can be caused by different frame rates of each stream, or by the loss of frames of one stream): drop directly or output to the user.
|
||||
*
|
||||
* @param mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
|
||||
*/
|
||||
void setFrameAggregateOutputMode(OBFrameAggregateOutputMode mode) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_set_frame_aggregate_output_mode(impl_, mode, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
};
|
||||
|
||||
class Pipeline {
|
||||
public:
|
||||
/**
|
||||
* @brief FrameSetCallback is a callback function type for frameset data arrival.
|
||||
*
|
||||
* @param frame The returned frameset data
|
||||
*/
|
||||
typedef std::function<void(std::shared_ptr<FrameSet> frame)> FrameSetCallback;
|
||||
public:
|
||||
/**
|
||||
* @brief FrameSetCallback is a callback function type for frameset data arrival.
|
||||
*
|
||||
* @param frame The returned frameset data
|
||||
*/
|
||||
typedef std::function<void(std::shared_ptr<FrameSet> frame)> FrameSetCallback;
|
||||
|
||||
private:
|
||||
ob_pipeline_t *impl_;
|
||||
FrameSetCallback callback_;
|
||||
private:
|
||||
ob_pipeline_t *impl_;
|
||||
FrameSetCallback callback_;
|
||||
|
||||
public:
|
||||
/**
|
||||
* @brief Pipeline is a high-level interface for applications, algorithms related RGBD data
|
||||
* streams. Pipeline can provide alignment inside and synchronized FrameSet. Pipeline() no
|
||||
* parameter version, which opens the first device in the list of devices connected to the OS by
|
||||
* default. If the application has obtained the device through the DeviceList, opening the
|
||||
* Pipeline() at this time will throw an exception that the device has been created.
|
||||
*/
|
||||
Pipeline() {
|
||||
ob_error *error = nullptr;
|
||||
impl_ = ob_create_pipeline(&error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* Pipeline(std::shared_ptr< Device > device ) Function for multi-device operations. Multiple
|
||||
* devices need to be obtained through DeviceList, and the device and pipeline are bound through
|
||||
* this interface.
|
||||
*/
|
||||
explicit Pipeline(std::shared_ptr<Device> device) {
|
||||
ob_error *error = nullptr;
|
||||
impl_ = ob_create_pipeline_with_device(device->getImpl(), &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Destroy the pipeline object
|
||||
*/
|
||||
~Pipeline() noexcept {
|
||||
ob_error *error = nullptr;
|
||||
ob_delete_pipeline(impl_, &error);
|
||||
Error::handle(&error, false);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Start the pipeline with configuration parameters
|
||||
*
|
||||
* @param config The parameter configuration of the pipeline
|
||||
*/
|
||||
void start(std::shared_ptr<Config> config = nullptr) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_t *config_impl = config == nullptr ? nullptr : config->getImpl();
|
||||
ob_pipeline_start_with_config(impl_, config_impl, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Start the pipeline and set the frameset data callback
|
||||
*
|
||||
* @param config The configuration of the pipeline
|
||||
* @param callback The callback to be triggered when all frame data in the frameset arrives
|
||||
*/
|
||||
void start(std::shared_ptr<Config> config, FrameSetCallback callback) {
|
||||
callback_ = callback;
|
||||
ob_error *error = nullptr;
|
||||
ob_pipeline_start_with_callback(impl_, config ? config->getImpl() : nullptr,
|
||||
&Pipeline::frameSetCallback, this, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
static void frameSetCallback(ob_frame_t *frameSet, void *userData) {
|
||||
auto pipeline = static_cast<Pipeline *>(userData);
|
||||
pipeline->callback_(std::make_shared<FrameSet>(frameSet));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Stop the pipeline
|
||||
*/
|
||||
void stop() const {
|
||||
ob_error *error = nullptr;
|
||||
ob_pipeline_stop(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the pipeline configuration parameters
|
||||
* @brief Returns the default configuration if the user has not configured it
|
||||
*
|
||||
* @return std::shared_ptr<Config> The configured parameters
|
||||
*/
|
||||
std::shared_ptr<Config> getConfig() const {
|
||||
ob_error *error = nullptr;
|
||||
auto config = ob_pipeline_get_config(impl_, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<Config>(config);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Wait for frameset
|
||||
*
|
||||
* @param timeout_ms The waiting timeout in milliseconds
|
||||
* @return std::shared_ptr<FrameSet> The waiting frameset data
|
||||
*/
|
||||
std::shared_ptr<FrameSet> waitForFrameset(uint32_t timeoutMs = 1000) const {
|
||||
ob_error *error = nullptr;
|
||||
auto frameSet = ob_pipeline_wait_for_frameset(impl_, timeoutMs, &error);
|
||||
if (frameSet == nullptr) {
|
||||
return nullptr;
|
||||
public:
|
||||
/**
|
||||
* @brief Pipeline is a high-level interface for applications, algorithms related RGBD data streams. Pipeline can provide alignment inside and synchronized
|
||||
* FrameSet. Pipeline() no parameter version, which opens the first device in the list of devices connected to the OS by default. If the application has
|
||||
* obtained the device through the DeviceList, opening the Pipeline() at this time will throw an exception that the device has been created.
|
||||
*/
|
||||
Pipeline() {
|
||||
ob_error *error = nullptr;
|
||||
impl_ = ob_create_pipeline(&error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
Error::handle(&error);
|
||||
return std::make_shared<FrameSet>(frameSet);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the device object
|
||||
*
|
||||
* @return std::shared_ptr<Device> The device object
|
||||
*/
|
||||
std::shared_ptr<Device> getDevice() const {
|
||||
ob_error *error = nullptr;
|
||||
auto device = ob_pipeline_get_device(impl_, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<Device>(device);
|
||||
}
|
||||
/**
|
||||
* @brief
|
||||
* Pipeline(std::shared_ptr< Device > device ) Function for multi-device operations. Multiple devices need to be obtained through DeviceList, and the device
|
||||
* and pipeline are bound through this interface.
|
||||
*/
|
||||
explicit Pipeline(std::shared_ptr<Device> device) {
|
||||
ob_error *error = nullptr;
|
||||
impl_ = ob_create_pipeline_with_device(device->getImpl(), &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the stream profile of the specified sensor
|
||||
*
|
||||
* @param sensorType The type of sensor
|
||||
* @return std::shared_ptr<StreamProfileList> The stream profile list
|
||||
*/
|
||||
std::shared_ptr<StreamProfileList> getStreamProfileList(OBSensorType sensorType) const {
|
||||
ob_error *error = nullptr;
|
||||
auto list = ob_pipeline_get_stream_profile_list(impl_, sensorType, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<StreamProfileList>(list);
|
||||
}
|
||||
/**
|
||||
* @brief Destroy the pipeline object
|
||||
*/
|
||||
~Pipeline() noexcept {
|
||||
ob_error *error = nullptr;
|
||||
ob_delete_pipeline(impl_, &error);
|
||||
Error::handle(&error, false);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Turn on frame synchronization
|
||||
*/
|
||||
void enableFrameSync() const {
|
||||
ob_error *error = nullptr;
|
||||
ob_pipeline_enable_frame_sync(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Start the pipeline with configuration parameters
|
||||
*
|
||||
* @param config The parameter configuration of the pipeline
|
||||
*/
|
||||
void start(std::shared_ptr<Config> config = nullptr) const {
|
||||
ob_error *error = nullptr;
|
||||
ob_config_t *config_impl = config == nullptr ? nullptr : config->getImpl();
|
||||
ob_pipeline_start_with_config(impl_, config_impl, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Turn off frame synchronization
|
||||
*/
|
||||
void disableFrameSync() const {
|
||||
ob_error *error = nullptr;
|
||||
ob_pipeline_disable_frame_sync(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
/**
|
||||
* @brief Start the pipeline and set the frameset data callback
|
||||
*
|
||||
* @param config The configuration of the pipeline
|
||||
* @param callback The callback to be triggered when all frame data in the frameset arrives
|
||||
*/
|
||||
void start(std::shared_ptr<Config> config, FrameSetCallback callback) {
|
||||
callback_ = callback;
|
||||
ob_error *error = nullptr;
|
||||
ob_pipeline_start_with_callback(impl_, config ? config->getImpl() : nullptr, &Pipeline::frameSetCallback, this, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
std::shared_ptr<StreamProfileList> getD2CDepthProfileList(
|
||||
std::shared_ptr<StreamProfile> colorProfile, OBAlignMode alignMode) {
|
||||
ob_error *error = nullptr;
|
||||
auto list = ob_get_d2c_depth_profile_list(impl_, colorProfile->getImpl(), alignMode, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<StreamProfileList>(list);
|
||||
}
|
||||
static void frameSetCallback(ob_frame_t *frameSet, void *userData) {
|
||||
auto pipeline = static_cast<Pipeline *>(userData);
|
||||
pipeline->callback_(std::make_shared<FrameSet>(frameSet));
|
||||
}
|
||||
|
||||
OBCameraParam getCameraParam() {
|
||||
ob_error *error = nullptr;
|
||||
OBCameraParam cameraParam = ob_pipeline_get_camera_param(impl_, &error);
|
||||
Error::handle(&error);
|
||||
return cameraParam;
|
||||
}
|
||||
/**
|
||||
* @brief Stop the pipeline
|
||||
*/
|
||||
void stop() const {
|
||||
ob_error *error = nullptr;
|
||||
ob_pipeline_stop(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
OBCameraParam getCameraParamWithProfile(uint32_t colorWidth, uint32_t colorHeight,
|
||||
uint32_t depthWidth, uint32_t depthHeight) {
|
||||
ob_error *error = nullptr;
|
||||
OBCameraParam cameraParam = ob_pipeline_get_camera_param_with_profile(
|
||||
impl_, colorWidth, colorHeight, depthWidth, depthHeight, &error);
|
||||
Error::handle(&error);
|
||||
return cameraParam;
|
||||
}
|
||||
/**
|
||||
* @brief Get the pipeline configuration parameters
|
||||
* @brief Returns the default configuration if the user has not configured it
|
||||
*
|
||||
* @return std::shared_ptr<Config> The configured parameters
|
||||
*/
|
||||
std::shared_ptr<Config> getConfig() const {
|
||||
ob_error *error = nullptr;
|
||||
auto config = ob_pipeline_get_config(impl_, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<Config>(config);
|
||||
}
|
||||
|
||||
OBCalibrationParam getCalibrationParam(std::shared_ptr<Config> config) {
|
||||
std::cout << "getCalibrationParam" << std::endl;
|
||||
/**
|
||||
* @brief Wait for frameset
|
||||
*
|
||||
* @param timeout_ms The waiting timeout in milliseconds
|
||||
* @return std::shared_ptr<FrameSet> The waiting frameset data
|
||||
*/
|
||||
std::shared_ptr<FrameSet> waitForFrameset(uint32_t timeoutMs = 1000) const {
|
||||
ob_error *error = nullptr;
|
||||
auto frameSet = ob_pipeline_wait_for_frameset(impl_, timeoutMs, &error);
|
||||
if(frameSet == nullptr) {
|
||||
return nullptr;
|
||||
}
|
||||
Error::handle(&error);
|
||||
return std::make_shared<FrameSet>(frameSet);
|
||||
}
|
||||
|
||||
ob_error *error = nullptr;
|
||||
OBCalibrationParam calibrationParam =
|
||||
ob_pipeline_get_calibration_param(impl_, config->getImpl(), &error);
|
||||
/**
|
||||
* @brief Get the device object
|
||||
*
|
||||
* @return std::shared_ptr<Device> The device object
|
||||
*/
|
||||
std::shared_ptr<Device> getDevice() const {
|
||||
ob_error *error = nullptr;
|
||||
auto device = ob_pipeline_get_device(impl_, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<Device>(device);
|
||||
}
|
||||
|
||||
Error::handle(&error);
|
||||
return calibrationParam;
|
||||
}
|
||||
/**
|
||||
* @brief Get the stream profile of the specified sensor
|
||||
*
|
||||
* @param sensorType The type of sensor
|
||||
* @return std::shared_ptr<StreamProfileList> The stream profile list
|
||||
*/
|
||||
std::shared_ptr<StreamProfileList> getStreamProfileList(OBSensorType sensorType) const {
|
||||
ob_error *error = nullptr;
|
||||
auto list = ob_pipeline_get_stream_profile_list(impl_, sensorType, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<StreamProfileList>(list);
|
||||
}
|
||||
|
||||
/**
|
||||
* In order to be compatible with the closed source version of orbbecsdk's interface.
|
||||
* We recommend using the latest interface names for a better experience.
|
||||
*/
|
||||
OB_DEPRECATED std::shared_ptr<FrameSet> waitForFrames(uint32_t timeoutMs = 1000) const {
|
||||
return waitForFrameset(timeoutMs);
|
||||
}
|
||||
/**
|
||||
* @brief Get the stream profile list of supported depth-to-color alignments
|
||||
*
|
||||
* @param colorProfile The color stream profile, witch is the target stream profile for the depth-to-color alignment.
|
||||
* @param alignMode The alignment mode.
|
||||
*
|
||||
* @attention Currently, only ALIGN_D2C_HW_MODE supported. For other align modes, please using the AlignFilter interface.
|
||||
*
|
||||
* @return std::shared_ptr<StreamProfileList> The stream profile list of supported depth-to-color alignments.
|
||||
*/
|
||||
std::shared_ptr<StreamProfileList> getD2CDepthProfileList(std::shared_ptr<StreamProfile> colorProfile, OBAlignMode alignMode) {
|
||||
ob_error *error = nullptr;
|
||||
auto list = ob_get_d2c_depth_profile_list(impl_, colorProfile->getImpl(), alignMode, &error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<StreamProfileList>(list);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Turn on frame synchronization
|
||||
*/
|
||||
void enableFrameSync() const {
|
||||
ob_error *error = nullptr;
|
||||
ob_pipeline_enable_frame_sync(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Turn off frame synchronization
|
||||
*/
|
||||
void disableFrameSync() const {
|
||||
ob_error *error = nullptr;
|
||||
ob_pipeline_disable_frame_sync(impl_, &error);
|
||||
Error::handle(&error);
|
||||
}
|
||||
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
|
||||
OBCameraParam getCameraParam() {
|
||||
ob_error *error = nullptr;
|
||||
OBCameraParam cameraParam = ob_pipeline_get_camera_param(impl_, &error);
|
||||
Error::handle(&error);
|
||||
return cameraParam;
|
||||
}
|
||||
|
||||
OBCameraParam getCameraParamWithProfile(uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight) {
|
||||
ob_error *error = nullptr;
|
||||
OBCameraParam cameraParam = ob_pipeline_get_camera_param_with_profile(impl_, colorWidth, colorHeight, depthWidth, depthHeight, &error);
|
||||
Error::handle(&error);
|
||||
return cameraParam;
|
||||
}
|
||||
|
||||
OBCalibrationParam getCalibrationParam(std::shared_ptr<Config> config) {
|
||||
ob_error *error = nullptr;
|
||||
OBCalibrationParam calibrationParam = ob_pipeline_get_calibration_param(impl_, config->getImpl(), &error);
|
||||
Error::handle(&error);
|
||||
return calibrationParam;
|
||||
}
|
||||
|
||||
std::shared_ptr<FrameSet> waitForFrames(uint32_t timeoutMs = 1000) const {
|
||||
return waitForFrameset(timeoutMs);
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace ob
|
||||
|
||||
@@ -28,7 +28,7 @@ public:
|
||||
typedef std::function<void(std::shared_ptr<Frame> frame)> FrameCallback;
|
||||
|
||||
protected:
|
||||
ob_sensor_t * impl_;
|
||||
ob_sensor_t *impl_;
|
||||
FrameCallback callback_;
|
||||
|
||||
public:
|
||||
@@ -49,7 +49,7 @@ public:
|
||||
return *this;
|
||||
}
|
||||
|
||||
Sensor(const Sensor &sensor) = delete;
|
||||
Sensor(const Sensor &sensor) = delete;
|
||||
Sensor &operator=(const Sensor &sensor) = delete;
|
||||
|
||||
virtual ~Sensor() noexcept {
|
||||
@@ -83,12 +83,13 @@ public:
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Request recommended filters
|
||||
* @brief Create a list of recommended filters for the sensor.
|
||||
*
|
||||
* @return OBFilterList list of frame processing block
|
||||
*/
|
||||
std::vector<std::shared_ptr<Filter>> getRecommendedFilters() const {
|
||||
std::vector<std::shared_ptr<Filter>> createRecommendedFilters() const {
|
||||
ob_error *error = nullptr;
|
||||
auto list = ob_sensor_get_recommended_filter_list(impl_, &error);
|
||||
auto list = ob_sensor_create_recommended_filter_list(impl_, &error);
|
||||
Error::handle(&error);
|
||||
auto filter_count = ob_filter_list_get_count(list, &error);
|
||||
|
||||
@@ -98,6 +99,8 @@ public:
|
||||
Error::handle(&error);
|
||||
filters.push_back(std::make_shared<Filter>(filterImpl));
|
||||
}
|
||||
ob_delete_filter_list(list, &error);
|
||||
Error::handle(&error, false);
|
||||
return filters;
|
||||
}
|
||||
|
||||
@@ -140,13 +143,15 @@ private:
|
||||
sensor->callback_(std::make_shared<Frame>(frame));
|
||||
}
|
||||
|
||||
/**
|
||||
* In order to be compatible with the closed source version of orbbecsdk's interface.
|
||||
* We recommend using the latest interface names for a better experience.
|
||||
*/
|
||||
OB_DEPRECATED OBSensorType type() const {
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
OBSensorType type() const {
|
||||
return getType();
|
||||
}
|
||||
|
||||
std::vector<std::shared_ptr<Filter>> getRecommendedFilters() const {
|
||||
return createRecommendedFilters();
|
||||
}
|
||||
};
|
||||
|
||||
class SensorList {
|
||||
@@ -213,15 +218,13 @@ public:
|
||||
return std::make_shared<Sensor>(sensor);
|
||||
}
|
||||
|
||||
/**
|
||||
* In order to be compatible with the closed source version of orbbecsdk's interface.
|
||||
* We recommend using the latest interface names for a better experience.
|
||||
*/
|
||||
OB_DEPRECATED uint32_t count() const {
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
uint32_t count() const {
|
||||
return getCount();
|
||||
}
|
||||
|
||||
OB_DEPRECATED OBSensorType type(uint32_t index) const {
|
||||
OBSensorType type(uint32_t index) const {
|
||||
return getSensorType(index);
|
||||
}
|
||||
};
|
||||
|
||||
@@ -120,15 +120,13 @@ public:
|
||||
return std::static_pointer_cast<const T>(shared_from_this());
|
||||
}
|
||||
|
||||
/**
|
||||
* In order to be compatible with the closed source version of orbbecsdk's interface.
|
||||
* We recommend using the latest interface names for a better experience.
|
||||
*/
|
||||
OB_DEPRECATED OBFormat format() const {
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
OBFormat format() const {
|
||||
return getFormat();
|
||||
}
|
||||
|
||||
OB_DEPRECATED OBStreamType type() const {
|
||||
OBStreamType type() const {
|
||||
return getType();
|
||||
}
|
||||
};
|
||||
@@ -203,19 +201,17 @@ public:
|
||||
return distortion;
|
||||
}
|
||||
|
||||
/**
|
||||
* In order to be compatible with the closed source version of orbbecsdk's interface.
|
||||
* We recommend using the latest interface names for a better experience.
|
||||
*/
|
||||
OB_DEPRECATED uint32_t fps() const {
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
uint32_t fps() const {
|
||||
return getFps();
|
||||
}
|
||||
|
||||
OB_DEPRECATED uint32_t width() const {
|
||||
uint32_t width() const {
|
||||
return getWidth();
|
||||
}
|
||||
|
||||
OB_DEPRECATED uint32_t height() const {
|
||||
uint32_t height() const {
|
||||
return getHeight();
|
||||
}
|
||||
};
|
||||
@@ -265,11 +261,13 @@ public:
|
||||
return intrinsic;
|
||||
}
|
||||
|
||||
OB_DEPRECATED OBAccelFullScaleRange fullScaleRange() const{
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
OBAccelFullScaleRange fullScaleRange() const {
|
||||
return getFullScaleRange();
|
||||
}
|
||||
|
||||
OB_DEPRECATED OBAccelSampleRate sampleRate() const{
|
||||
OBAccelSampleRate sampleRate() const {
|
||||
return getSampleRate();
|
||||
}
|
||||
};
|
||||
@@ -319,11 +317,13 @@ public:
|
||||
return intrinsic;
|
||||
}
|
||||
|
||||
OB_DEPRECATED OBGyroFullScaleRange fullScaleRange() const{
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
OBGyroFullScaleRange fullScaleRange() const {
|
||||
return getFullScaleRange();
|
||||
}
|
||||
|
||||
OB_DEPRECATED OBGyroSampleRate sampleRate() const{
|
||||
OBGyroSampleRate sampleRate() const {
|
||||
return getSampleRate();
|
||||
}
|
||||
};
|
||||
@@ -431,11 +431,9 @@ public:
|
||||
return std::make_shared<GyroStreamProfile>(profile);
|
||||
}
|
||||
|
||||
/**
|
||||
* In order to be compatible with the closed source version of orbbecsdk's interface.
|
||||
* We recommend using the latest interface names for a better experience.
|
||||
*/
|
||||
OB_DEPRECATED uint32_t count() const {
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
uint32_t count() const {
|
||||
return getCount();
|
||||
}
|
||||
};
|
||||
|
||||
@@ -31,7 +31,7 @@ public:
|
||||
Error::handle(&error);
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
|
||||
*
|
||||
@@ -43,13 +43,13 @@ public:
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool transformation2dto3d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
|
||||
OBExtrinsic extrinsic, OBPoint3f *target_point3f) {
|
||||
static bool transformation2dto3d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
|
||||
OBExtrinsic extrinsic, OBPoint3f *target_point3f) {
|
||||
ob_error *error = NULL;
|
||||
bool result = ob_transformation_2d_to_3d(source_point2f, source_depth_pixel_value, source_intrinsic, extrinsic, target_point3f, &error);
|
||||
Error::handle(&error);
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
|
||||
@@ -84,12 +84,12 @@ public:
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool transformation2dto2d(const OBPoint2f source_point2f, const float source_depth_pixel_value,const OBCameraIntrinsic source_intrinsic,
|
||||
const OBCameraDistortion source_distortion, const OBCameraIntrinsic target_intrinsic,
|
||||
const OBCameraDistortion target_distortion,OBExtrinsic extrinsic, OBPoint2f *target_point2f) {
|
||||
static bool transformation2dto2d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
|
||||
const OBCameraDistortion source_distortion, const OBCameraIntrinsic target_intrinsic,
|
||||
const OBCameraDistortion target_distortion, OBExtrinsic extrinsic, OBPoint2f *target_point2f) {
|
||||
ob_error *error = NULL;
|
||||
bool result = ob_transformation_2d_to_2d(source_point2f, source_depth_pixel_value, source_intrinsic, source_distortion, target_intrinsic,
|
||||
target_distortion, extrinsic, target_point2f, &error);
|
||||
bool result = ob_transformation_2d_to_2d(source_point2f, source_depth_pixel_value, source_intrinsic, source_distortion, target_intrinsic,
|
||||
target_distortion, extrinsic, target_point2f, &error);
|
||||
Error::handle(&error);
|
||||
return result;
|
||||
}
|
||||
@@ -112,7 +112,7 @@ public:
|
||||
auto unConstImpl = const_cast<ob_frame *>(depthFrame->getImpl());
|
||||
|
||||
auto result = transformation_depth_frame_to_color_camera(device->getImpl() , unConstImpl, targetColorCameraWidth, targetColorCameraHeight, &error);
|
||||
Error::handle(&error);
|
||||
Error::handle(&error);
|
||||
return std::make_shared<ob::Frame>(result);
|
||||
}
|
||||
|
||||
@@ -161,23 +161,21 @@ public:
|
||||
*/
|
||||
static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData){
|
||||
ob_error *error = NULL;
|
||||
transformation_depth_to_rgbd_pointcloud(xyTables, depthImageData, colorImageData, pointCloudData, &error);
|
||||
Error::handle(&error, false);
|
||||
transformation_depth_to_rgbd_pointcloud(xyTables, depthImageData, colorImageData, pointCloudData, &error);
|
||||
Error::handle(&error, false);
|
||||
}
|
||||
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// Use the transformation3dto3d instead.
|
||||
OB_DEPRECATED static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
|
||||
public:
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
|
||||
const OBSensorType targetSensorType, OBPoint3f *targetPoint3f) {
|
||||
ob_error *error = NULL;
|
||||
bool result = ob_calibration_3d_to_3d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint3f, &error);
|
||||
Error::handle(&error);
|
||||
return result;
|
||||
}
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// Use the transformation2dto3d instead.
|
||||
OB_DEPRECATED static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
|
||||
|
||||
static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
|
||||
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f) {
|
||||
ob_error *error = NULL;
|
||||
bool result = ob_calibration_2d_to_3d(calibrationParam, sourcePoint2f, sourceDepthPixelValue, sourceSensorType, targetSensorType, targetPoint3f, &error);
|
||||
@@ -185,18 +183,15 @@ public:
|
||||
return result;
|
||||
}
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// Use the transformation3dto2d instead.
|
||||
OB_DEPRECATED static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
|
||||
static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
|
||||
const OBSensorType targetSensorType, OBPoint2f *targetPoint2f) {
|
||||
ob_error *error = NULL;
|
||||
bool result = ob_calibration_3d_to_2d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint2f, &error);
|
||||
Error::handle(&error);
|
||||
return result;
|
||||
}
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// Use the transformation2dto2d instead.
|
||||
OB_DEPRECATED static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
|
||||
|
||||
static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
|
||||
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f) {
|
||||
ob_error *error = NULL;
|
||||
bool result = ob_calibration_2d_to_2d(calibrationParam, sourcePoint2f, sourceDepthPixelValue, sourceSensorType, targetSensorType, targetPoint2f, &error);
|
||||
|
||||
@@ -12,8 +12,8 @@ set_target_properties(ob::OrbbecSDK PROPERTIES
|
||||
IMPORTED_SONAME_RELEASE "libOrbbecSDK.so"
|
||||
)
|
||||
|
||||
list(APPEND _IMPORT_CHECK_TARGETS ob::OrbbecSDK )
|
||||
list(APPEND _IMPORT_CHECK_FILES_FOR_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so" )
|
||||
list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
|
||||
list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so" )
|
||||
|
||||
# Commands beyond this point should not need to know the version.
|
||||
set(CMAKE_IMPORT_FILE_VERSION)
|
||||
|
||||
@@ -1,10 +1,13 @@
|
||||
# Generated by CMake
|
||||
|
||||
if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
|
||||
message(FATAL_ERROR "CMake >= 2.6.0 required")
|
||||
if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
|
||||
message(FATAL_ERROR "CMake >= 2.8.0 required")
|
||||
endif()
|
||||
if(CMAKE_VERSION VERSION_LESS "2.8.3")
|
||||
message(FATAL_ERROR "CMake >= 2.8.3 required")
|
||||
endif()
|
||||
cmake_policy(PUSH)
|
||||
cmake_policy(VERSION 2.6)
|
||||
cmake_policy(VERSION 2.8.3...3.28)
|
||||
#----------------------------------------------------------------
|
||||
# Generated CMake target import file.
|
||||
#----------------------------------------------------------------
|
||||
@@ -13,32 +16,34 @@ cmake_policy(VERSION 2.6)
|
||||
set(CMAKE_IMPORT_FILE_VERSION 1)
|
||||
|
||||
# Protect against multiple inclusion, which would fail when already imported targets are added once more.
|
||||
set(_targetsDefined)
|
||||
set(_targetsNotDefined)
|
||||
set(_expectedTargets)
|
||||
foreach(_expectedTarget ob::OrbbecSDK)
|
||||
list(APPEND _expectedTargets ${_expectedTarget})
|
||||
if(NOT TARGET ${_expectedTarget})
|
||||
list(APPEND _targetsNotDefined ${_expectedTarget})
|
||||
endif()
|
||||
if(TARGET ${_expectedTarget})
|
||||
list(APPEND _targetsDefined ${_expectedTarget})
|
||||
set(_cmake_targets_defined "")
|
||||
set(_cmake_targets_not_defined "")
|
||||
set(_cmake_expected_targets "")
|
||||
foreach(_cmake_expected_target IN ITEMS ob::OrbbecSDK)
|
||||
list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
|
||||
if(TARGET "${_cmake_expected_target}")
|
||||
list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
|
||||
else()
|
||||
list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
|
||||
endif()
|
||||
endforeach()
|
||||
if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
|
||||
unset(_targetsDefined)
|
||||
unset(_targetsNotDefined)
|
||||
unset(_expectedTargets)
|
||||
set(CMAKE_IMPORT_FILE_VERSION)
|
||||
unset(_cmake_expected_target)
|
||||
if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
|
||||
unset(_cmake_targets_defined)
|
||||
unset(_cmake_targets_not_defined)
|
||||
unset(_cmake_expected_targets)
|
||||
unset(CMAKE_IMPORT_FILE_VERSION)
|
||||
cmake_policy(POP)
|
||||
return()
|
||||
endif()
|
||||
if(NOT "${_targetsDefined}" STREQUAL "")
|
||||
message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
|
||||
if(NOT _cmake_targets_defined STREQUAL "")
|
||||
string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
|
||||
string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
|
||||
message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
|
||||
endif()
|
||||
unset(_targetsDefined)
|
||||
unset(_targetsNotDefined)
|
||||
unset(_expectedTargets)
|
||||
unset(_cmake_targets_defined)
|
||||
unset(_cmake_targets_not_defined)
|
||||
unset(_cmake_expected_targets)
|
||||
|
||||
|
||||
# Compute the installation prefix relative to this file.
|
||||
@@ -56,21 +61,25 @@ set_target_properties(ob::OrbbecSDK PROPERTIES
|
||||
)
|
||||
|
||||
# Load information for each installed configuration.
|
||||
get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
|
||||
file(GLOB CONFIG_FILES "${_DIR}/OrbbecSDKConfig-*.cmake")
|
||||
foreach(f ${CONFIG_FILES})
|
||||
include(${f})
|
||||
file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/OrbbecSDKConfig-*.cmake")
|
||||
foreach(_cmake_config_file IN LISTS _cmake_config_files)
|
||||
include("${_cmake_config_file}")
|
||||
endforeach()
|
||||
unset(_cmake_config_file)
|
||||
unset(_cmake_config_files)
|
||||
|
||||
# Cleanup temporary variables.
|
||||
set(_IMPORT_PREFIX)
|
||||
|
||||
# Loop over all imported files and verify that they actually exist
|
||||
foreach(target ${_IMPORT_CHECK_TARGETS} )
|
||||
foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
|
||||
if(NOT EXISTS "${file}" )
|
||||
message(FATAL_ERROR "The imported target \"${target}\" references the file
|
||||
\"${file}\"
|
||||
foreach(_cmake_target IN LISTS _cmake_import_check_targets)
|
||||
if(CMAKE_VERSION VERSION_LESS "3.28"
|
||||
OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
|
||||
OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
|
||||
foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
|
||||
if(NOT EXISTS "${_cmake_file}")
|
||||
message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
|
||||
\"${_cmake_file}\"
|
||||
but this file does not exist. Possible reasons include:
|
||||
* The file was deleted, renamed, or moved to another location.
|
||||
* An install or uninstall procedure did not complete successfully.
|
||||
@@ -78,11 +87,14 @@ but this file does not exist. Possible reasons include:
|
||||
\"${CMAKE_CURRENT_LIST_FILE}\"
|
||||
but not all the files it references.
|
||||
")
|
||||
endif()
|
||||
endforeach()
|
||||
unset(_IMPORT_CHECK_FILES_FOR_${target})
|
||||
endif()
|
||||
endforeach()
|
||||
endif()
|
||||
unset(_cmake_file)
|
||||
unset("_cmake_import_check_files_for_${_cmake_target}")
|
||||
endforeach()
|
||||
unset(_IMPORT_CHECK_TARGETS)
|
||||
unset(_cmake_target)
|
||||
unset(_cmake_import_check_targets)
|
||||
|
||||
# This file does not depend on other imported targets which have
|
||||
# been exported from the same project but in a separate export set.
|
||||
|
||||
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Reference in New Issue
Block a user