mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 03:57:46 +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
|
||||
* @brief According the current preset name to return current depth mode name
|
||||
* @return const char* return the current depth mode name.
|
||||
*/
|
||||
OB_EXPORT const char * ob_device_get_current_depth_work_mode_name(const ob_device *device, ob_error **error);
|
||||
OB_EXPORT const char *ob_device_get_current_depth_work_mode_name(const ob_device *device, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Switch the depth work mode by ob_depth_work_mode.
|
||||
@@ -151,7 +151,8 @@ OB_EXPORT void ob_device_export_current_settings_as_preset_json_file(ob_device *
|
||||
* @param[out] data return the preset json data.
|
||||
* @param[out] dataSize return the size of the preset json data.
|
||||
*/
|
||||
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);
|
||||
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);
|
||||
|
||||
/**
|
||||
* @brief Get the available preset list.
|
||||
@@ -199,10 +200,7 @@ OB_EXPORT const char *ob_device_preset_list_get_name(const ob_device_preset_list
|
||||
*/
|
||||
OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *preset_list, const char *preset_name, 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_depth_work_mode_list_count ob_depth_work_mode_list_get_count
|
||||
#define ob_device_preset_list_count ob_device_preset_list_get_count
|
||||
|
||||
|
||||
@@ -86,10 +86,10 @@ OB_EXPORT void ob_set_device_changed_callback(ob_context *context, ob_device_cha
|
||||
* @brief Activates device clock synchronization to synchronize the clock of the host and all created devices (if supported).
|
||||
*
|
||||
* @param[in] context Pointer to the context object
|
||||
* @param[in] repeatInterval The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
|
||||
* @param[in] repeat_interval_msec The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
|
||||
* @param[out] error Pointer to an error object that will be populated if an error occurs during execution
|
||||
*/
|
||||
OB_EXPORT void ob_enable_device_clock_sync(ob_context *context, uint64_t repeatInterval, ob_error **error);
|
||||
OB_EXPORT void ob_enable_device_clock_sync(ob_context *context, uint64_t repeat_interval_msec, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Free idle memory from the internal frame memory pool
|
||||
@@ -138,9 +138,17 @@ OB_EXPORT void ob_set_logger_to_callback(ob_log_severity severity, ob_log_callba
|
||||
OB_EXPORT void ob_set_logger_to_console(ob_log_severity severity, 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.
|
||||
*/
|
||||
* @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
|
||||
* @param error Pointer to an error object that will be populated if an error occurs during extensions directory setting
|
||||
*/
|
||||
OB_EXPORT void ob_set_extensions_directory(const char *directory, ob_error **error);
|
||||
|
||||
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||||
#define ob_enable_multi_device_sync ob_enable_device_clock_sync
|
||||
#define ob_set_logger_callback ob_set_logger_to_callback
|
||||
|
||||
|
||||
@@ -152,6 +152,17 @@ OB_EXPORT void ob_device_set_structured_data(ob_device *device, ob_property_id p
|
||||
*/
|
||||
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);
|
||||
|
||||
/**
|
||||
* @brief Get raw data of a device property.
|
||||
*
|
||||
* @param[in] device The device object.
|
||||
* @param[in] property_id The ID of the property.
|
||||
* @param[out] cb The get data callback.
|
||||
* @param[out] user_data User-defined data that will be returned in the callback.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
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);
|
||||
|
||||
/**
|
||||
* @brief Get the number of properties supported by the device.
|
||||
*
|
||||
@@ -540,9 +551,10 @@ OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number(const ob_device_
|
||||
|
||||
/**
|
||||
* @brief Create device 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 already been acquired and created elsewhere, repeated acquisitions will return an error.
|
||||
*
|
||||
@@ -594,11 +606,7 @@ OB_EXPORT ob_camera_param ob_camera_param_list_get_param(ob_camera_param_list *p
|
||||
*/
|
||||
OB_EXPORT void ob_delete_camera_param_list(ob_camera_param_list *param_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_device_list_device_count ob_device_list_get_count
|
||||
#define ob_device_list_get_extension_info ob_device_info_get_extension_info
|
||||
#define ob_device_upgrade ob_device_update_firmware
|
||||
|
||||
@@ -69,10 +69,7 @@ OB_EXPORT ob_exception_type ob_error_get_exception_type(const ob_error *error);
|
||||
*/
|
||||
OB_EXPORT void ob_delete_error(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_error_status ob_error_get_status
|
||||
#define ob_error_message ob_error_get_message
|
||||
#define ob_error_function ob_error_get_function
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
# define OB_NO_EXPORT
|
||||
#else
|
||||
# ifndef OB_EXPORT
|
||||
# ifdef openobsdk_EXPORTS
|
||||
# ifdef OrbbecSDK_EXPORTS
|
||||
/* We are building this library */
|
||||
# define OB_EXPORT __attribute__((visibility("default")))
|
||||
# else
|
||||
|
||||
@@ -75,12 +75,22 @@ OB_EXPORT const char *ob_filter_get_config_schema(const ob_filter *filter, ob_er
|
||||
* @brief Get the filter config schema list of the filter
|
||||
* @brief The returned string is a list of ob_config_schema_item representing the configuration schema of the filter.
|
||||
*
|
||||
* @attention The returned list should be deleted by calling @ref ob_delete_filter_config_schema_list when it is no longer needed.
|
||||
*
|
||||
* @param filter The filter object to get the configuration schema for
|
||||
* @param error Pointer to an error object that will be set if an error occurs
|
||||
* @return ob_filter_config_schema_list* Return the filter config schema list of the filter
|
||||
*/
|
||||
OB_EXPORT ob_filter_config_schema_list *ob_filter_get_config_schema_list(const ob_filter *filter, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Delete a list of filter config schema items.
|
||||
*
|
||||
* @param config_schema_list The list of filter config schema items to delete.
|
||||
* @param error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_delete_filter_config_schema_list(ob_filter_config_schema_list *config_schema_list, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Update config of the filter
|
||||
*
|
||||
@@ -231,10 +241,8 @@ OB_EXPORT uint32_t ob_filter_config_schema_list_get_count(const ob_filter_config
|
||||
*/
|
||||
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,
|
||||
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_get_filter ob_filter_list_get_filter
|
||||
#define ob_get_filter_name ob_filter_get_name
|
||||
|
||||
|
||||
@@ -600,10 +600,7 @@ OB_EXPORT ob_frame *ob_frameset_get_frame_by_index(const ob_frame *frameset, uin
|
||||
*/
|
||||
OB_EXPORT void ob_frameset_push_frame(ob_frame *frameset, const ob_frame *frame, 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_frame_index ob_frame_get_index
|
||||
#define ob_frame_format ob_frame_get_format
|
||||
#define ob_frame_time_stamp_us ob_frame_get_timestamp_us
|
||||
|
||||
@@ -1241,7 +1241,7 @@ typedef struct {
|
||||
/**
|
||||
* @brief The sync mode of the device.
|
||||
*/
|
||||
ob_multi_device_sync_mode syncMode;
|
||||
OBMultiDeviceSyncMode syncMode;
|
||||
|
||||
/**
|
||||
* @brief The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.
|
||||
|
||||
@@ -1,9 +1,8 @@
|
||||
/**
|
||||
* @file Pipeline.h
|
||||
* @brief The SDK's advanced API can quickly implement functions such as switching streaming, frame
|
||||
* synchronization, software filtering, etc., suitable for 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. Please use the interface of Device's Lower API.
|
||||
* @brief The SDK's advanced API can quickly implement functions such as switching streaming, frame synchronization, software filtering, etc., suitable for
|
||||
* 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.
|
||||
* Please use the interface of Device's Lower API.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
@@ -53,14 +52,12 @@ OB_EXPORT void ob_pipeline_start(ob_pipeline *pipeline, ob_error **error);
|
||||
* @param[in] config Parameters to be configured
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_pipeline_start_with_config(ob_pipeline *pipeline, const ob_config *config,
|
||||
ob_error **error);
|
||||
OB_EXPORT void ob_pipeline_start_with_config(ob_pipeline *pipeline, const ob_config *config, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Start the pipeline and set the frame collection data callback
|
||||
*
|
||||
* @attention After start the pipeline with this interface, the frames will be output to the
|
||||
* callback function and cannot be obtained frames by call
|
||||
* @attention After start the pipeline with this interface, the frames will be output to the callback function and cannot be obtained frames by call
|
||||
* @ob_pipeline_wait_for_frameset
|
||||
*
|
||||
* @param[in] pipeline pipeline object
|
||||
@@ -69,8 +66,7 @@ OB_EXPORT void ob_pipeline_start_with_config(ob_pipeline *pipeline, const ob_con
|
||||
* @param[in] user_data Pass in any user data and get it from the callback
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_pipeline_start_with_callback(ob_pipeline *pipeline, const ob_config *config,
|
||||
ob_frameset_callback callback, void *user_data,
|
||||
OB_EXPORT void ob_pipeline_start_with_callback(ob_pipeline *pipeline, const ob_config *config, ob_frameset_callback callback, void *user_data,
|
||||
ob_error **error);
|
||||
|
||||
/**
|
||||
@@ -98,8 +94,7 @@ OB_EXPORT ob_config *ob_pipeline_get_config(const ob_pipeline *pipeline, ob_erro
|
||||
* @param[in] config The pipeline configuration
|
||||
* @param[out] error Log error messages
|
||||
*/
|
||||
OB_EXPORT void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *config,
|
||||
ob_error **error);
|
||||
OB_EXPORT void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *config, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Wait for a set of frames to be returned synchronously
|
||||
@@ -107,11 +102,9 @@ OB_EXPORT void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *confi
|
||||
* @param[in] pipeline The pipeline object
|
||||
* @param[in] timeout_ms The timeout for waiting (in milliseconds)
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
* @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.
|
||||
* @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.
|
||||
*/
|
||||
OB_EXPORT ob_frame *ob_pipeline_wait_for_frameset(ob_pipeline *pipeline, uint32_t timeout_ms,
|
||||
ob_error **error);
|
||||
OB_EXPORT ob_frame *ob_pipeline_wait_for_frameset(ob_pipeline *pipeline, uint32_t timeout_ms, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Get the device object associated with the pipeline
|
||||
@@ -126,19 +119,15 @@ OB_EXPORT ob_device *ob_pipeline_get_device(const ob_pipeline *pipeline, ob_erro
|
||||
* @brief Get the stream profile list associated with the pipeline
|
||||
*
|
||||
* @param[in] pipeline The pipeline object
|
||||
* @param[in] sensorType The sensor type. The supported sensor types can be obtained through the
|
||||
* ob_device_get_sensor_list() interface.
|
||||
* @param[in] sensorType The sensor type. The supported sensor types can be obtained through the ob_device_get_sensor_list() interface.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
* @return ob_stream_profile_list* The stream profile list
|
||||
*/
|
||||
OB_EXPORT ob_stream_profile_list *ob_pipeline_get_stream_profile_list(const ob_pipeline *pipeline,
|
||||
ob_sensor_type sensorType,
|
||||
ob_error **error);
|
||||
OB_EXPORT ob_stream_profile_list *ob_pipeline_get_stream_profile_list(const ob_pipeline *pipeline, ob_sensor_type sensorType, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Enable frame synchronization
|
||||
* @brief Synchronize the frames of different streams by using the timestamp information of the
|
||||
* frames.
|
||||
* @brief Synchronize the frames of different streams by using the timestamp information of the frames.
|
||||
* @brief Dynamically (when pipeline is started) enable/disable frame synchronization is allowed.
|
||||
*
|
||||
* @param[in] pipeline The pipeline object
|
||||
@@ -155,8 +144,7 @@ OB_EXPORT void ob_pipeline_enable_frame_sync(ob_pipeline *pipeline, ob_error **e
|
||||
OB_EXPORT void ob_pipeline_disable_frame_sync(ob_pipeline *pipeline, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Return a list of D2C-enabled depth sensor resolutions corresponding to the input color
|
||||
* sensor resolution
|
||||
* @brief Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution
|
||||
*
|
||||
* @param[in] pipeline The pipeline object
|
||||
* @param[in] color_profile The input profile of the color sensor
|
||||
@@ -164,9 +152,8 @@ OB_EXPORT void ob_pipeline_disable_frame_sync(ob_pipeline *pipeline, ob_error **
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
* @return ob_stream_profile_list* The list of D2C-enabled depth sensor resolutions
|
||||
*/
|
||||
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,
|
||||
ob_error **error);
|
||||
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,
|
||||
ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Create the pipeline configuration
|
||||
@@ -191,8 +178,7 @@ OB_EXPORT void ob_delete_config(ob_config *config, ob_error **error);
|
||||
* @param[in] stream_type The type of the stream to be enabled
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_config_enable_stream(ob_config *config, ob_stream_type stream_type,
|
||||
ob_error **error);
|
||||
OB_EXPORT void ob_config_enable_stream(ob_config *config, ob_stream_type stream_type, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Enable all streams in the pipeline configuration
|
||||
@@ -209,15 +195,12 @@ OB_EXPORT void ob_config_enable_all_stream(ob_config *config, ob_error **error);
|
||||
* @param[in] profile The stream profile to be enabled
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config,
|
||||
const ob_stream_profile *profile,
|
||||
ob_error **error);
|
||||
OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config, const ob_stream_profile *profile, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Enable video stream with specified parameters
|
||||
*
|
||||
* @attention The stream_type should be a video stream type, such as OB_STREAM_IR, OB_STREAM_COLOR,
|
||||
* OB_STREAM_DEPTH, etc.
|
||||
* @attention The stream_type should be a video stream type, such as OB_STREAM_IR, OB_STREAM_COLOR, OB_STREAM_DEPTH, etc.
|
||||
*
|
||||
* @param config[in] The pipeline configuration object
|
||||
* @param stream_type[in] The type of the stream to be enabled
|
||||
@@ -227,9 +210,8 @@ OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config,
|
||||
* @param format[in] The format of the video stream
|
||||
* @param error[out] Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
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, ob_error **error);
|
||||
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,
|
||||
ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Enable accelerometer stream with specified parameters
|
||||
@@ -239,9 +221,7 @@ OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type s
|
||||
* @param sample_rate[in] The sample rate of the accelerometer
|
||||
* @param error[out] Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
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.
|
||||
|
||||
Reference in New Issue
Block a user