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update OrbbecSDK version to 2.6.1

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ob-yalian
2025-12-02 16:18:11 +08:00
parent c2a9b197be
commit 7c74775a9d
25 changed files with 520 additions and 92 deletions
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orbbec_camera/SDK/include/libobsensor/h/Context.h
+15
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@@ -93,6 +93,21 @@ OB_EXPORT bool ob_force_ip_config(const char *macAddress, ob_net_ip_config confi
*/
OB_EXPORT ob_device *ob_create_net_device(ob_context *context, const char *address, uint16_t port, ob_error **error);
/**
* @brief Create a network device object
*
* @param[in] context Pointer to the context object
* @param[in] address IP address of the device
* @param[in] port Port number of the device
* @param[in] accessMode Device access mode. @ref ob_device_access_mode.
* If the device does not support setting the Access Mode, the default OB_DEVICE_DEFAULT_ACCESS is used.
* Applies only on first device creation or after release and re-creation; subsequent calls ignore it.
* @param[out] error Pointer to an error object that will be populated if an error occurs during device creation
*
* @return Pointer to the created device object
*/
OB_EXPORT ob_device *ob_create_net_device_ex(ob_context *context, const char *address, uint16_t port, ob_device_access_mode accessMode, ob_error **error);
/**
* @brief Set a device plug-in callback function
*
orbbec_camera/SDK/include/libobsensor/h/Device.h
+58
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@@ -712,9 +712,26 @@ OB_EXPORT const char *ob_device_list_get_device_local_gateway(const ob_device_li
*
* @return ob_device* The created device.
*
* @note Default access mode is OB_DEVICE_DEFAULT_ACCESS
*/
OB_EXPORT ob_device *ob_device_list_get_device(const ob_device_list *list, uint32_t index, ob_error **error);
/**
* @brief Create a device.
*
* @attention If the device has already been acquired and created elsewhere, repeated acquisitions will return an error.
*
* @param[in] list Device list object.
* @param[in] index The index of the device to create.
* @param[in] accessMode Device access mode. @ref ob_device_access_mode.
* If the device does not support setting the Access Mode, the default OB_DEVICE_DEFAULT_ACCESS is used.
* Applies only on first device creation or after release and re-creation; subsequent calls ignore it.
* @param[out] error Pointer to an error object that will be set if an error occurs.
*
* @return ob_device* The created device.
*/
OB_EXPORT ob_device *ob_device_list_get_device_ex(const ob_device_list *list, uint32_t index, ob_device_access_mode accessMode, ob_error **error);
/**
* @brief Create a device.
*
@@ -725,9 +742,28 @@ OB_EXPORT ob_device *ob_device_list_get_device(const ob_device_list *list, uint3
* @param[out] error Pointer to an error object that will be set if an error occurs.
*
* @return ob_device* The created device.
*
* @note Default access mode is OB_DEVICE_DEFAULT_ACCESS
*/
OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number(const ob_device_list *list, const char *serial_number, ob_error **error);
/**
* @brief Create a device.
*
* @attention If the device has already been acquired and created elsewhere, repeated acquisitions will return an error.
*
* @param[in] list Device list object.
* @param[in] serial_number The serial number of the device to create.
* @param[in] accessMode Device access mode. @ref ob_device_access_mode.
* If the device does not support setting the Access Mode, the default OB_DEVICE_DEFAULT_ACCESS is used.
* Applies only on first device creation or after release and re-creation; subsequent calls ignore it.
* @param[out] error Pointer to an error object that will be set if an error occurs.
*
* @return ob_device* The created device.
*/
OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number_ex(const ob_device_list *list, const char *serial_number, ob_device_access_mode accessMode,
ob_error **error);
/**
* @brief Create device by uid
* @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
@@ -742,9 +778,31 @@ OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number(const ob_device_
* @param[out] error Pointer to an error object that will be set if an error occurs.
*
* @return ob_device* The created device.
*
* @note Default access mode is OB_DEVICE_DEFAULT_ACCESS
*/
OB_EXPORT ob_device *ob_device_list_get_device_by_uid(const ob_device_list *list, const char *uid, ob_error **error);
/**
* @brief Create device by uid
* @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.
*
* @param[in] list Device list object.
* @param[in] uid The UID of the device to create.
* @param[in] accessMode Device access mode. @ref ob_device_access_mode.
* If the device does not support setting the Access Mode, the default OB_DEVICE_DEFAULT_ACCESS is used.
* Applies only on first device creation or after release and re-creation; subsequent calls ignore it.
* @param[out] error Pointer to an error object that will be set if an error occurs.
*
* @return ob_device* The created device.
*/
OB_EXPORT ob_device *ob_device_list_get_device_by_uid_ex(const ob_device_list *list, const char *uid, ob_device_access_mode accessMode, ob_error **error);
/**
* @brief Get the original parameter list of camera calibration saved on the device.
*
orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+135 -65
View File
@@ -51,6 +51,7 @@ typedef struct ob_preset_resolution_config_list_t ob_preset_resolution_config_li
#define OB_ACCEL_SAMPLE_RATE_ANY OB_SAMPLE_RATE_UNKNOWN
#define OB_GYRO_FULL_SCALE_RANGE_ANY OB_GYRO_FS_UNKNOWN
#define OB_GYRO_SAMPLE_RATE_ANY OB_SAMPLE_RATE_UNKNOWN
#define OB_LIDAR_SCAN_ANY OB_LIDAR_SCAN_UNKNOWN
/**
* @brief maximum path length
@@ -108,6 +109,7 @@ typedef enum {
OB_EXCEPTION_TYPE_IO, /**< SDK access IO exception error */
OB_EXCEPTION_TYPE_MEMORY, /**< SDK access and use memory errors. For example, the frame fails to allocate memory */
OB_EXCEPTION_TYPE_UNSUPPORTED_OPERATION, /**< Unsupported operation type error by SDK or device */
OB_EXCEPTION_TYPE_ACCESS_DENIED, /**< Device access denied */
} OBExceptionType,
ob_exception_type;
@@ -126,17 +128,18 @@ typedef struct ob_error {
* @brief Enumeration value describing the sensor type
*/
typedef enum {
OB_SENSOR_UNKNOWN = 0, /**< Unknown type sensor */
OB_SENSOR_IR = 1, /**< IR */
OB_SENSOR_COLOR = 2, /**< Color */
OB_SENSOR_DEPTH = 3, /**< Depth */
OB_SENSOR_ACCEL = 4, /**< Accel */
OB_SENSOR_GYRO = 5, /**< Gyro */
OB_SENSOR_IR_LEFT = 6, /**< left IR for stereo camera*/
OB_SENSOR_IR_RIGHT = 7, /**< Right IR for stereo camera*/
OB_SENSOR_RAW_PHASE = 8, /**< Raw Phase */
OB_SENSOR_CONFIDENCE = 9, /**< Confidence */
OB_SENSOR_TYPE_COUNT, /**The total number of sensor types, is not a valid sensor type */
OB_SENSOR_UNKNOWN = 0, /**< Unknown type sensor */
OB_SENSOR_IR = 1, /**< IR */
OB_SENSOR_COLOR = 2, /**< Color */
OB_SENSOR_DEPTH = 3, /**< Depth */
OB_SENSOR_ACCEL = 4, /**< Accel */
OB_SENSOR_GYRO = 5, /**< Gyro */
OB_SENSOR_IR_LEFT = 6, /**< left IR for stereo camera*/
OB_SENSOR_IR_RIGHT = 7, /**< Right IR for stereo camera*/
OB_SENSOR_RAW_PHASE = 8, /**< Raw Phase */
OB_SENSOR_CONFIDENCE = 9, /**< Confidence */
OB_SENSOR_LIDAR = 10, /**< LiDAR */
OB_SENSOR_TYPE_COUNT, /**The total number of sensor types, is not a valid sensor type */
} OBSensorType,
ob_sensor_type;
@@ -155,6 +158,7 @@ typedef enum {
OB_STREAM_IR_RIGHT = 7, /**< Right IR stream for stereo camera */
OB_STREAM_RAW_PHASE = 8, /**< RawPhase Stream */
OB_STREAM_CONFIDENCE = 9, /**< Confidence Stream*/
OB_STREAM_LIDAR = 10, /**< LiDAR Stream for LiDAR device*/
OB_STREAM_TYPE_COUNT, /**< The total number of stream type,is not a valid stream type */
} OBStreamType,
ob_stream_type;
@@ -163,20 +167,21 @@ typedef enum {
* @brief Enumeration value describing the type of frame
*/
typedef enum {
OB_FRAME_UNKNOWN = -1, /**< Unknown frame type */
OB_FRAME_VIDEO = 0, /**< Video frame */
OB_FRAME_IR = 1, /**< IR frame */
OB_FRAME_COLOR = 2, /**< Color frame */
OB_FRAME_DEPTH = 3, /**< Depth frame */
OB_FRAME_ACCEL = 4, /**< Accelerometer data frame */
OB_FRAME_SET = 5, /**< Frame collection (internally contains a variety of data frames) */
OB_FRAME_POINTS = 6, /**< Point cloud frame */
OB_FRAME_GYRO = 7, /**< Gyroscope data frame */
OB_FRAME_IR_LEFT = 8, /**< Left IR frame for stereo camera */
OB_FRAME_IR_RIGHT = 9, /**< Right IR frame for stereo camera */
OB_FRAME_RAW_PHASE = 10, /**< Raw Phase frame*/
OB_FRAME_CONFIDENCE = 11, /**< Confidence frame*/
OB_FRAME_TYPE_COUNT, /**< The total number of frame types, is not a valid frame type */
OB_FRAME_UNKNOWN = -1, /**< Unknown frame type */
OB_FRAME_VIDEO = 0, /**< Video frame */
OB_FRAME_IR = 1, /**< IR frame */
OB_FRAME_COLOR = 2, /**< Color frame */
OB_FRAME_DEPTH = 3, /**< Depth frame */
OB_FRAME_ACCEL = 4, /**< Accelerometer data frame */
OB_FRAME_SET = 5, /**< Frame collection (internally contains a variety of data frames) */
OB_FRAME_POINTS = 6, /**< Point cloud frame */
OB_FRAME_GYRO = 7, /**< Gyroscope data frame */
OB_FRAME_IR_LEFT = 8, /**< Left IR frame for stereo camera */
OB_FRAME_IR_RIGHT = 9, /**< Right IR frame for stereo camera */
OB_FRAME_RAW_PHASE = 10, /**< Raw Phase frame*/
OB_FRAME_CONFIDENCE = 11, /**< Confidence frame*/
OB_FRAME_LIDAR_POINTS = 12, /**< LiDAR point3d cloud frame*/
OB_FRAME_TYPE_COUNT, /**< The total number of frame types, is not a valid frame type */
} OBFrameType,
ob_frame_type;
@@ -197,41 +202,45 @@ typedef enum {
* @brief Enumeration value describing the pixel format
*/
typedef enum {
OB_FORMAT_UNKNOWN = -1, /**< unknown format */
OB_FORMAT_YUYV = 0, /**< YUYV format */
OB_FORMAT_YUY2 = 1, /**< YUY2 format (the actual format is the same as YUYV) */
OB_FORMAT_UYVY = 2, /**< UYVY format */
OB_FORMAT_NV12 = 3, /**< NV12 format */
OB_FORMAT_NV21 = 4, /**< NV21 format */
OB_FORMAT_MJPG = 5, /**< MJPEG encoding format */
OB_FORMAT_H264 = 6, /**< H.264 encoding format */
OB_FORMAT_H265 = 7, /**< H.265 encoding format */
OB_FORMAT_Y16 = 8, /**< Y16 format, 16-bit per pixel, single-channel*/
OB_FORMAT_Y8 = 9, /**< Y8 format, 8-bit per pixel, single-channel */
OB_FORMAT_Y10 = 10, /**< Y10 format, 10-bit per pixel, single-channel(SDK will unpack into Y16 by default) */
OB_FORMAT_Y11 = 11, /**< Y11 format, 11-bit per pixel, single-channel (SDK will unpack into Y16 by default) */
OB_FORMAT_Y12 = 12, /**< Y12 format, 12-bit per pixel, single-channel(SDK will unpack into Y16 by default) */
OB_FORMAT_GRAY = 13, /**< GRAY (the actual format is the same as YUYV) */
OB_FORMAT_HEVC = 14, /**< HEVC encoding format (the actual format is the same as H265) */
OB_FORMAT_I420 = 15, /**< I420 format */
OB_FORMAT_ACCEL = 16, /**< Acceleration data format */
OB_FORMAT_GYRO = 17, /**< Gyroscope data format */
OB_FORMAT_POINT = 19, /**< XYZ 3D coordinate point format, @ref OBPoint */
OB_FORMAT_RGB_POINT = 20, /**< XYZ 3D coordinate point format with RGB information, @ref OBColorPoint */
OB_FORMAT_RLE = 21, /**< RLE pressure test format (SDK will be unpacked into Y16 by default) */
OB_FORMAT_RGB = 22, /**< RGB format (actual RGB888) */
OB_FORMAT_BGR = 23, /**< BGR format (actual BGR888) */
OB_FORMAT_Y14 = 24, /**< Y14 format, 14-bit per pixel, single-channel (SDK will unpack into Y16 by default) */
OB_FORMAT_BGRA = 25, /**< BGRA format */
OB_FORMAT_COMPRESSED = 26, /**< Compression format */
OB_FORMAT_RVL = 27, /**< RVL pressure test format (SDK will be unpacked into Y16 by default) */
OB_FORMAT_Z16 = 28, /**< Is same as Y16*/
OB_FORMAT_YV12 = 29, /**< Is same as Y12, using for right ir stream*/
OB_FORMAT_BA81 = 30, /**< Is same as Y8, using for right ir stream*/
OB_FORMAT_RGBA = 31, /**< RGBA format */
OB_FORMAT_BYR2 = 32, /**< byr2 format */
OB_FORMAT_RW16 = 33, /**< RAW16 format */
OB_FORMAT_Y12C4 = 34, /**< Y12C4 format */
OB_FORMAT_UNKNOWN = -1, /**< unknown format */
OB_FORMAT_YUYV = 0, /**< YUYV format */
OB_FORMAT_YUY2 = 1, /**< YUY2 format (the actual format is the same as YUYV) */
OB_FORMAT_UYVY = 2, /**< UYVY format */
OB_FORMAT_NV12 = 3, /**< NV12 format */
OB_FORMAT_NV21 = 4, /**< NV21 format */
OB_FORMAT_MJPG = 5, /**< MJPEG encoding format */
OB_FORMAT_H264 = 6, /**< H.264 encoding format */
OB_FORMAT_H265 = 7, /**< H.265 encoding format */
OB_FORMAT_Y16 = 8, /**< Y16 format, 16-bit per pixel, single-channel*/
OB_FORMAT_Y8 = 9, /**< Y8 format, 8-bit per pixel, single-channel */
OB_FORMAT_Y10 = 10, /**< Y10 format, 10-bit per pixel, single-channel(SDK will unpack into Y16 by default) */
OB_FORMAT_Y11 = 11, /**< Y11 format, 11-bit per pixel, single-channel (SDK will unpack into Y16 by default) */
OB_FORMAT_Y12 = 12, /**< Y12 format, 12-bit per pixel, single-channel(SDK will unpack into Y16 by default) */
OB_FORMAT_GRAY = 13, /**< GRAY (the actual format is the same as YUYV) */
OB_FORMAT_HEVC = 14, /**< HEVC encoding format (the actual format is the same as H265) */
OB_FORMAT_I420 = 15, /**< I420 format */
OB_FORMAT_ACCEL = 16, /**< Acceleration data format */
OB_FORMAT_GYRO = 17, /**< Gyroscope data format */
OB_FORMAT_POINT = 19, /**< XYZ 3D coordinate point format, @ref OBPoint */
OB_FORMAT_RGB_POINT = 20, /**< XYZ 3D coordinate point format with RGB information, @ref OBColorPoint */
OB_FORMAT_RLE = 21, /**< RLE pressure test format (SDK will be unpacked into Y16 by default) */
OB_FORMAT_RGB = 22, /**< RGB format (actual RGB888) */
OB_FORMAT_BGR = 23, /**< BGR format (actual BGR888) */
OB_FORMAT_Y14 = 24, /**< Y14 format, 14-bit per pixel, single-channel (SDK will unpack into Y16 by default) */
OB_FORMAT_BGRA = 25, /**< BGRA format */
OB_FORMAT_COMPRESSED = 26, /**< Compression format */
OB_FORMAT_RVL = 27, /**< RVL pressure test format (SDK will be unpacked into Y16 by default) */
OB_FORMAT_Z16 = 28, /**< Is same as Y16*/
OB_FORMAT_YV12 = 29, /**< Is same as Y12, using for right ir stream*/
OB_FORMAT_BA81 = 30, /**< Is same as Y8, using for right ir stream*/
OB_FORMAT_RGBA = 31, /**< RGBA format */
OB_FORMAT_BYR2 = 32, /**< byr2 format */
OB_FORMAT_RW16 = 33, /**< RAW16 format */
OB_FORMAT_Y12C4 = 34, /**< Y12C4 format */
OB_FORMAT_LIDAR_POINT = 35, /**< XYZ 3D coordinate point format with LiDAR information, @ref OBLiDARPoint */
OB_FORMAT_LIDAR_SPHERE_POINT = 36, /**< Spherical coordinate point format with LiDAR information, @ref OBLiDARSpherePoint */
OB_FORMAT_LIDAR_SCAN = 37, /**< LiDAR single-line scan mode data format, @ref OBLiDARScanPoint */
OB_FORMAT_LIDAR_CALIBRATION = 38, /**< LiDAR calibration mode point format */
} OBFormat,
ob_format;
@@ -643,6 +652,21 @@ typedef struct {
float z; ///< Z-direction component
} OBAccelValue, OBGyroValue, OBFloat3D, ob_accel_value, ob_gyro_value, ob_float_3d;
/**
* @brief Data structures for LiDAR scan rate
*/
typedef enum {
OB_LIDAR_SCAN_UNKNOWN = 0,
OB_LIDAR_SCAN_5HZ = 1,
OB_LIDAR_SCAN_10HZ = 2,
OB_LIDAR_SCAN_15HZ = 3,
OB_LIDAR_SCAN_20HZ = 4,
OB_LIDAR_SCAN_25HZ = 5,
OB_LIDAR_SCAN_30HZ = 6,
OB_LIDAR_SCAN_40HZ = 7,
} OBLiDARScanRate,
ob_lidar_scan_rate, OB_LIDAR_SCAN_RATE;
/**
* @brief Device state
*/
@@ -800,6 +824,37 @@ typedef struct {
float b; ///< Blue channel component
} OBColorPoint, ob_color_point;
/**
* @brief 3D point structure with LiDAR information
*/
typedef struct {
float angle; ///< angle, unit: degrees
float distance; ///< distance, unit: mm
uint16_t intensity; ///< intensity, 0~2000
} OBLiDARScanPoint, ob_lidar_scan_point;
/**
* @brief 3D point structure with LiDAR information
*/
typedef struct {
float x; ///< X coordinate, unit mm
float y; ///< Y coordinate, unit mm
float z; ///< Z coordinate, unit mm
uint8_t reflectivity; ///< reflectivity
uint8_t tag; ///< point state
} OBLiDARPoint, ob_lidar_point;
/**
* @brief 3D point structure with LiDAR information
*/
typedef struct {
float distance; ///< distance, unit: mm
float theta; ///< azimuth angle, unit: degrees
float phi; ///< zenith angle, unit: degrees
uint8_t reflectivity; ///< reflectivity
uint8_t tag; ///< tag
} OBLiDARSpherePoint, ob_lidar_sphere_point;
/**
* @brief Compression mode
*/
@@ -1469,13 +1524,13 @@ typedef enum {
* @brief Configuration Item for the filter
*/
typedef struct {
const char *name; ///< Name of the configuration item
const char * name; ///< Name of the configuration item
OBFilterConfigValueType type; ///< Value type of the configuration item
double min; ///< Minimum value casted to double
double max; ///< Maximum value casted to double
double step; ///< Step value casted to double
double def; ///< Default value casted to double
const char *desc; ///< Description of the configuration item
const char * desc; ///< Description of the configuration item
} OBFilterConfigSchemaItem, ob_filter_config_schema_item;
/**
@@ -1742,15 +1797,30 @@ typedef enum {
* @brief Intra-camera Sync Reference based on the exposure start time, the exposure middle time, or the exposure end time.
*/
typedef enum {
START_OF_EXPOSURE = 0, /**< start of exposure */
MIDDLE_OF_EXPOSURE, /**< middle of exposure */
END_OF_EXPOSURE, /**< end of exposure */
OB_START_OF_EXPOSURE = 0, /**< start of exposure */
OB_MIDDLE_OF_EXPOSURE, /**< middle of exposure */
OB_END_OF_EXPOSURE, /**< end of exposure */
} ob_intra_camera_sync_reference,
OBIntraCameraSyncReference;
// For compatibility
#define OB_FRAME_METADATA_TYPE_LASER_POWER_MODE OB_FRAME_METADATA_TYPE_LASER_POWER_LEVEL
#define OB_FRAME_METADATA_TYPE_EMITTER_MODE OB_FRAME_METADATA_TYPE_LASER_STATUS
#define START_OF_EXPOSURE OB_START_OF_EXPOSURE
#define MIDDLE_OF_EXPOSURE OB_MIDDLE_OF_EXPOSURE
#define END_OF_EXPOSURE OB_END_OF_EXPOSURE
/**
* @brief Device access mode for GigE network device
*/
typedef enum {
OB_DEVICE_ACCESS_DENIED = 0, ///< No access. This value is only used as a return value
OB_DEVICE_EXCLUSIVE_ACCESS = 1, ///< Exclusive access: full read/write, no other application allowed; can preempt existing monitor access
OB_DEVICE_CONTROL_ACCESS = 2, ///< Control access: read/write allowed; other applications permitted read-only monitor access
OB_DEVICE_MONITOR_ACCESS = 3, ///< Monitor access: read-only; no write or control privileges
OB_DEVICE_DEFAULT_ACCESS = 4, ///< Default access: control access for capable devices, ignored otherwise
} ob_device_access_mode,
OBDeviceAccessMode;
/**
* @brief Callback for file transfer
orbbec_camera/SDK/include/libobsensor/h/Pipeline.h
+10 -1
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@@ -244,6 +244,16 @@ OB_EXPORT void ob_config_enable_accel_stream(ob_config *config, ob_accel_full_sc
*/
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 Enable LiDAR stream with specified parameters
*
* @param[in] config The pipeline configuration object
* @param[in] scan_rate The scan rate of LiDAR
* @param[in] format The format of the LiDAR stream
* @param[out] error Pointer to an error object that will be set if an error occurs.
*/
OB_EXPORT void ob_config_enable_lidar_stream(ob_config *config, ob_lidar_scan_rate scan_rate, ob_format format, ob_error **error);
/**
* @brief Get the enabled stream profile list in the pipeline configuration
*
@@ -344,4 +354,3 @@ OB_EXPORT ob_calibration_param ob_pipeline_get_calibration_param(ob_pipeline *pi
#ifdef __cplusplus
}
#endif
orbbec_camera/SDK/include/libobsensor/h/Property.h
+95
View File
@@ -556,6 +556,11 @@ typedef enum {
*/
OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT = 236,
/**
* @brief Color camera ROI brightness adjustment
*/
OB_PROP_COLOR_ROI_BRIGHTNESS_INT = 249,
/**
* @brief Baseline calibration parameters
*/
@@ -885,6 +890,96 @@ typedef enum {
* @note This setting has no effect when AE (Auto Exposure) is disabled.
*/
OB_PROP_COLOR_DENOISING_LEVEL_INT = 5525,
/*
* @brief LiDAR: set/get IP address
*/
OB_RAW_DATA_LIDAR_IP_ADDRESS = 8000,
/**
* @brief LiDAR: set/get port
*/
OB_PROP_LIDAR_PORT_INT = 8001,
/**
* @brief LiDAR: set/get MAC address
*/
OB_RAW_DATA_LIDAR_MAC_ADDRESS = 8002,
/**
* @brief LiDAR: set/get subnet mask
*/
OB_RAW_DATA_LIDAR_SUBNET_MASK = 8003,
/**
* @brief LiDAR: set/get work mode
*/
OB_PROP_LIDAR_WORK_MODE_INT = 8004,
/**
* @brief LiDAR: apply configs
*/
OB_PROP_LIDAR_APPLY_CONFIGS_INT = 8005,
/**
* @brief LiDAR: set/get tail filter level
*/
OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT = 8006,
/**
* @brief LiDAR: set/get mems fov size
*/
OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT = 8007,
/**
* @brief LiDAR: set/get mems frequency
*/
OB_PROP_LIDAR_MEMS_FRENQUENCY_FLOAT = 8008,
/**
* @brief LiDAR: get product model
*/
OB_RAW_DATA_LIDAR_PRODUCT_MODEL = 8009,
/**
* @brief LiDAR: get firmware version
*/
OB_RAW_DATA_LIDAR_FIRMWARE_VERSION = 8010,
/**
* @brief LiDAR: get fpga version
*/
OB_RAW_DATA_LIDAR_FPGA_VERSION = 8011,
/**
* @brief LiDAR: get warning info
*/
OB_PROP_LIDAR_WARNING_INFO_INT = 8012,
/**
* @brief LiDAR: get realtime motor spin speed, unit:0.01rpm
*/
OB_PROP_LIDAR_MOTOR_SPIN_SPEED_INT = 8013,
/**
* @brief LiDAR: get mcu temperature, uint: 0.01degrees delsius
*/
OB_PROP_LIDAR_MCU_TEMPERATURE_INT = 8014,
/**
* @brief LiDAR: get apd temperature, uint: 0.01degrees delsius
*/
OB_PROP_LIDAR_APD_TEMPERATURE_INT = 8015,
/**
* @brief LiDAR: get/set specific mode
*/
OB_PROP_LIDAR_SPECIFIC_MODE_INT = 8016,
/**
* @brief LiDAR: get/set repetitive scan mode
*/
OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT = 8017,
} OBPropertyID,
ob_property_id;
orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h
+35 -1
View File
@@ -58,10 +58,20 @@ OB_EXPORT ob_stream_profile *ob_create_accel_stream_profile(ob_accel_full_scale_
* @param[in] sample_rate Gyro sample rate
* @param[out] error Pointer to an error object that will be set if an error occurs.
*
* @return ob_stream_profile* return the accel stream profile object
* @return ob_stream_profile* return the gyro stream profile object
*/
OB_EXPORT ob_stream_profile *ob_create_gyro_stream_profile(ob_gyro_full_scale_range full_scale_range, ob_gyro_sample_rate sample_rate, ob_error **error);
/**
* @brief Create a LiDAR stream profile object
*
* @param[in] scan_rate The scan rate of LiDAR
* @param[in] format The format of the LiDAR stream
* @param[out] error Pointer to an error object that will be set if an error occurs.
* @return ob_stream_profile* return the LiDAR stream profile object
*/
OB_EXPORT ob_stream_profile *ob_create_lidar_stream_profile(ob_lidar_scan_rate scan_rate, ob_format format, ob_error **error);
/**
* @brief Copy the stream profile object from an other stream profile object
*
@@ -343,6 +353,15 @@ OB_EXPORT ob_gyro_intrinsic ob_gyro_stream_get_intrinsic(const ob_stream_profile
*/
OB_EXPORT void ob_gyro_stream_set_intrinsic(ob_stream_profile *profile, ob_gyro_intrinsic intrinsic, ob_error **error);
/**
* @brief Get the scan rate of the LiDAR stream.
*
* @param[in] profile Stream profile object. If the profile is not for the LiDAR stream, an error will be returned.
* @param[out] error Pointer to an error object that will be set if an error occurs.
* @return The scan rate of the LiDAR stream.
*/
OB_EXPORT ob_lidar_scan_rate ob_lidar_stream_profile_get_scan_rate(const ob_stream_profile *profile, ob_error **error);
/**
* @brief Get the number of StreamProfile lists.
*
@@ -418,6 +437,21 @@ OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_gyro_stream_profile(cons
ob_gyro_full_scale_range full_scale_range, ob_gyro_sample_rate sample_rate,
ob_error **error);
/**
* @brief Match the corresponding ob_stream_profile through the passed parameters. If there are multiple matches,
* the first one in the list will be returned by default. If no matched profile is found, an error will be returned.
*
* @attention The stream profile returned by this function should be deleted by calling @ref ob_delete_stream_profile() when it is no longer needed.
*
* @param[in] profile_list Resolution list.
* @param[in] scan_rate The scan rate of LiDAR. If you don't need to add matching conditions, you can pass OB_LIDAR_SCAN_ANY.
* @param[in] format The format of the LiDAR stream. If you don't need to add matching conditions, you can pass OB_FORMAT_ANY.
* @param[out] error Pointer to an error object that will be set if an error occurs.
* @return The matching profile.
*/
OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_lidar_stream_profile(const ob_stream_profile_list *profile_list, ob_lidar_scan_rate scan_rate,
ob_format format, ob_error **error);
/**
* @brief Delete the stream profile list.
*
orbbec_camera/SDK/include/libobsensor/h/TypeHelper.h
+8
View File
@@ -72,6 +72,14 @@ OB_EXPORT const char* ob_gyro_range_type_to_string(OBGyroFullScaleRange type);
*/
OB_EXPORT const char* ob_accel_range_type_to_string(OBAccelFullScaleRange type);
/**
* @brief Convert OBLiDARScanRate to " char* " type and then return.
*
* @param[in] type OBLiDARScanRate type.
* @return OBLiDARScanRate of "char*" type.
*/
OB_EXPORT const char *ob_lidar_scan_rate_type_to_string(OBLiDARScanRate type);
/**
* @brief Convert OBFrameMetadataType to " char* " type and then return.
*
orbbec_camera/SDK/include/libobsensor/h/Utils.h
+12
View File
@@ -119,6 +119,18 @@ OB_EXPORT bool ob_calibration_2d_to_2d(const ob_calibration_param calibration_pa
* @return bool save point cloud result
*/
OB_EXPORT bool ob_save_pointcloud_to_ply(const char *file_name, ob_frame *frame, bool save_binary, bool use_mesh, float mesh_threshold, ob_error **error);
/**
* @brief save LiDAR point cloud to ply file.
*
* @param[in] file_name Point cloud save path
* @param[in] frame LiDAR point cloud frame
* @param[in] save_binary Binary or textual,true: binary, false: textual
* @param[out] error Pointer to an error object that will be set if an error occurs.
*
* @return bool save LiDAR point cloud result
*/
OB_EXPORT bool ob_save_lidar_pointcloud_to_ply(const char *file_name, ob_frame *frame, bool save_binary, ob_error **error);
#ifdef __cplusplus
}
#endif