mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-09 14:27:02 +08:00
Update SDK version to v2.4.1
This commit is contained in:
jj
@@ -211,12 +211,12 @@ OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *pre
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* @return bool Returns true if the device supports the frame interleave feature.
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*/
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OB_EXPORT bool ob_device_is_frame_interleave_supported(const ob_device *device, ob_error **error);
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/**
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/**
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*
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* @brief load the frame interleave mode according to frame interleavee name.
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*
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* @param device The device object.
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* @param interleave_ae_name The name should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
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* @param frame_interleave_name The name should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
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* @param error Log error messages.
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*/
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OB_EXPORT void ob_device_load_frame_interleave(ob_device *device, const char *frame_interleave_name, ob_error **error);
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@@ -230,11 +230,10 @@ OB_EXPORT void ob_device_load_frame_interleave(ob_device *device, const char *fr
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*/
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OB_EXPORT ob_device_frame_interleave_list *ob_device_get_available_frame_interleave_list(ob_device *device, ob_error **error);
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/**
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* @brief Delete the available frame interleave list.
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*
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* @param interleave_ae_list The available frame interleave list.
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* @param frame_interleave_list The available frame interleave list.
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* @param error Log error messages.
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*/
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OB_EXPORT void ob_delete_frame_interleave_list(ob_device_frame_interleave_list *frame_interleave_list, ob_error **error);
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@@ -242,7 +241,7 @@ OB_EXPORT void ob_delete_frame_interleave_list(ob_device_frame_interleave_list *
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/**
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* @brief Get the number of frame interleave in the frame interleave list.
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*
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* @param interleave_ae_list The available frame interleave list.
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* @param frame_interleave_list The available frame interleave list.
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* @param error Log error messages.
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* @return The number of frame interleave in the frame interleave list.
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*/
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@@ -251,7 +250,7 @@ OB_EXPORT uint32_t ob_device_frame_interleave_list_get_count(ob_device_frame_int
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/**
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* @brief Get the name of frame interleave in the frame interleave list.
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*
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* @param interleave_ae_list The available frame interleave list.
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* @param frame_interleave_list The available frame interleave list.
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* @param index The index of frame interleave in the frame interleave list.
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* @param error Log error messages.
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* @return The name of frame interleave in the frame interleave list..
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@@ -261,8 +260,8 @@ OB_EXPORT const char *ob_device_frame_interleave_list_get_name(ob_device_frame_i
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/**
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* @brief Check if the interleave ae list has the interleave ae.
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*
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* @param interleave_ae_list The available interleave ae list.
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* @param interleave_ae_name The name of the interleave ae.
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* @param frame_interleave_list The available interleave ae list.
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* @param frame_interleave_name The name of the interleave ae.
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* @param error Log error messages.
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* @return Whether the interleave ae list has the interleave ae. If true, the interleave ae list has the interleave ae. If false, the interleave ae list does
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* not have the interleave ae.
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@@ -104,7 +104,7 @@ OB_EXPORT void ob_enable_device_clock_sync(ob_context *context, uint64_t repeat_
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OB_EXPORT void ob_free_idle_memory(ob_context *context, ob_error **error);
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/**
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* @brief For linux, there are two ways to enable the UVC backend: libuvc and libusb. This function is used to set the backend type.
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* @brief For linux, there are two ways to enable the UVC backend: libuvc and v4l2. This function is used to set the backend type.
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* @brief It is effective when the new device is created.
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*
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* @attention This interface is only available for Linux.
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@@ -155,7 +155,7 @@ OB_EXPORT void ob_set_logger_to_console(ob_log_severity severity, ob_error **err
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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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* @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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@@ -166,6 +166,26 @@ OB_EXPORT void ob_device_get_structured_data(ob_device *device, ob_property_id p
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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 Set customer data.
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*
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* @param[in] device The device object.
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* @param[in] data The property data to be set.
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* @param[in] data_size The size of the property to be set,the maximum length cannot exceed 65532 bytes.
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* @param[out] error Log error messages.
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*/
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OB_EXPORT void ob_device_write_customer_data(ob_device *device, const void *data, uint32_t data_size, ob_error **error);
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/**
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* @brief Get customer data of a device property.
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*
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* @param[in] device The device object.
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* @param[out] data The obtained property data.
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* @param[out] data_size The size of the obtained property data.
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* @param[out] error Log error messages.
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*/
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OB_EXPORT void ob_device_read_customer_data(ob_device *device, void *data, uint32_t *data_size, 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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@@ -305,9 +325,8 @@ OB_EXPORT void ob_device_enable_heartbeat(ob_device *device, bool enable, ob_err
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* @param[in] send_data The data to be sent to the device.
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* @param[in] send_data_size The size of the data to be sent to the device.
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* @param[out] receive_data The data received from the device.
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* @param[in, out] receive_data_size Pass in the expected size of the receive data, and return the actual size of the received data.
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* @param[in,out] receive_data_size Pass in the expected size of the receive data, and return the actual size of the received data.
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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_EXPORT
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*/
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OB_EXPORT void ob_device_send_and_receive_data(ob_device *device, const uint8_t *send_data, uint32_t send_data_size, uint8_t *receive_data,
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uint32_t *receive_data_size, ob_error **error);
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@@ -388,7 +407,7 @@ OB_EXPORT const char *ob_device_info_get_firmware_version(const ob_device_info *
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*
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* @param[in] info Device Information
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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 const char* The connection type，currently supports："USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
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* @return const char* The connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
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*/
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OB_EXPORT const char *ob_device_info_get_connection_type(const ob_device_info *info, ob_error **error);
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@@ -399,7 +418,7 @@ OB_EXPORT const char *ob_device_info_get_connection_type(const ob_device_info *i
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*
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* @param info Device Information
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* @param error Pointer to an error object that will be set if an error occurs.
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* @return const char* The IP address，such as "192.168.1.10"
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* @return const char* The IP address, such as "192.168.1.10"
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*/
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OB_EXPORT const char *ob_device_info_get_ip_address(const ob_device_info *info, ob_error **error);
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@@ -533,7 +552,7 @@ OB_EXPORT const char *ob_device_list_get_device_serial_number(const ob_device_li
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* @param[in] list Device list object
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* @param[in] index Device index
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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 const char* returns the device connection type，currently supports："USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2",
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* @return const char* returns the device connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2",
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* "Ethernet"
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*/
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OB_EXPORT const char *ob_device_list_get_device_connection_type(const ob_device_list *list, uint32_t index, ob_error **error);
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@@ -546,10 +565,22 @@ OB_EXPORT const char *ob_device_list_get_device_connection_type(const ob_device_
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* @param list Device list object
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* @param index Device index
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* @param error Pointer to an error object that will be set if an error occurs.
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* @return const char* returns the device ip address，such as "192.168.1.10"
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* @return const char* returns the device ip address, such as "192.168.1.10"
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*/
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OB_EXPORT const char *ob_device_list_get_device_ip_address(const ob_device_list *list, uint32_t index, ob_error **error);
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/**
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* @brief Get device local mac address
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*
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* @attention Only valid for network devices, otherwise it will return "0:0:0:0:0:0".
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*
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* @param list Device list object
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* @param index Device index
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* @param error Pointer to an error object that will be set if an error occurs.
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* @return const char* returns the device mac address
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*/
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OB_EXPORT const char *ob_device_list_get_device_local_mac(const ob_device_list *list, uint32_t index, ob_error **error);
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/**
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* @brief Create a device.
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*
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@@ -580,7 +611,7 @@ OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number(const ob_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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* @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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@@ -68,7 +68,7 @@ OB_EXPORT ob_exception_type ob_error_get_exception_type(const ob_error *error);
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/**
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* @brief Delete the error object.
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*
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* @param[in] error The error object to delete.
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* @param[in] error The error object to delete, you should set the pointer to NULL after calling this function.
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*/
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OB_EXPORT void ob_delete_error(ob_error *error);
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@@ -62,7 +62,7 @@ OB_EXPORT ob_frame *ob_create_frame_from_stream_profile(const ob_stream_profile
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* no longer needed.
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*
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* @param[in] frame_type Frame object type.
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* @param[in] frame_format Frame object format.
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* @param[in] format Frame object format.
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* @param[in] width Frame object width.
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* @param[in] height Frame object height.
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* @param[in] stride_bytes Row span in bytes. If 0, the stride is calculated based on the width and format.
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@@ -148,7 +148,7 @@ OB_EXPORT void ob_delete_frame(const ob_frame *frame, ob_error **error);
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/**
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* @brief Copy the information of the source frame object to the destination frame object.
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* @brief Including the index，timestamp，system timestamp，global timestamp and metadata will be copied.
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* @brief Including the index, timestamp, system timestamp, global timestamp and metadata will be copied.
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*
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* @param[in] src_frame Source frame object to copy the information from.
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* @param[in] dst_frame Destination frame object to copy the information to.
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@@ -224,7 +224,7 @@ OB_EXPORT void ob_frame_set_system_timestamp_us(ob_frame *frame, uint64_t system
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/**
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* @brief Get the global timestamp of the frame in microseconds.
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* @brief The global timestamp is the time point when the frame was was captured by the device, and has been converted to the host clock domain. The
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* @brief The global timestamp is the time point when the frame was captured by the device, and has been converted to the host clock domain. The
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* conversion process base on the frame timestamp and can eliminate the timer drift of the device
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*
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* @attention The global timestamp is disabled by default. If global timestamp is not enabled, the function will return 0. To enable it, call @ref
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@@ -603,6 +603,24 @@ 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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* @brief Get point cloud frame width
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*
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* @param[in] frame point cloud Frame object
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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 uint32_t return the point cloud frame width
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*/
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OB_EXPORT uint32_t ob_point_cloud_frame_get_width(const ob_frame *frame, ob_error **error);
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/**
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* @brief Get point cloud frame height
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*
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* @param[in] frame point cloud Frame object
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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 uint32_t return the point cloud frame height
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*/
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OB_EXPORT uint32_t ob_point_cloud_frame_get_height(const ob_frame *frame, 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_frame_index ob_frame_get_index
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#define ob_frame_format ob_frame_get_format
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@@ -62,7 +62,7 @@ OB_EXPORT ob_multi_device_sync_config ob_device_get_multi_device_sync_config(con
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*
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* @attention The frequency of the user call this function multiplied by the number of frames per trigger should be less than the frame rate of the stream. The
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* number of frames per trigger can be set by @ref framesPerTrigger.
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* @attention For some models，receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling this
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* @attention For some models, receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling this
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* function should not be too high, please refer to the product manual for the specific supported frequency.
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* @attention If the device is not in the @ref OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.
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*
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@@ -10,19 +10,21 @@
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#include "Export.h"
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#include <stdbool.h>
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#include <stdint.h>
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#pragma pack(push, 1) // struct 1-byte align
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdbool.h>
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#include <stdint.h>
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typedef struct ob_context_t ob_context;
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typedef struct ob_device_t ob_device;
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typedef struct ob_device_info_t ob_device_info;
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typedef struct ob_device_list_t ob_device_list;
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typedef struct ob_record_device_t ob_record_device;
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typedef struct ob_playback_device_t ob_playback_device;
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typedef struct ob_camera_param_list_t ob_camera_param_list;
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typedef struct ob_sensor_t ob_sensor;
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typedef struct ob_sensor_list_t ob_sensor_list;
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@@ -183,6 +185,7 @@ typedef enum {
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OB_PIXEL_DEPTH = 0, // Depth pixel type, the value of the pixel is the distance from the camera to the object
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OB_PIXEL_DISPARITY = 2, // Disparity for structured light camera
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OB_PIXEL_RAW_PHASE = 3, // Raw phase for tof camera
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OB_PIXEL_TOF_DEPTH = 4, // Depth for tof camera
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} OBPixelType,
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ob_pixel_type;
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@@ -190,7 +193,7 @@ typedef enum {
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* @brief Enumeration value describing the pixel format
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*/
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typedef enum {
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OB_FORMAT_UNKNOWN = -1, /*< unknown format */
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OB_FORMAT_UNKNOWN = -1, /**< unknown format */
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OB_FORMAT_YUYV = 0, /**< YUYV format */
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OB_FORMAT_YUY2 = 1, /**< YUY2 format (the actual format is the same as YUYV) */
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OB_FORMAT_UYVY = 2, /**< UYVY format */
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@@ -495,6 +498,15 @@ typedef enum {
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} OBAlignMode,
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ob_align_mode;
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/**
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* @brief Camera performance mode
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*/
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typedef enum {
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ADAPTIVE_PERFORMANCE_MODE, /**< Camera adaptive mode */
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HIGH_PERFORMANCE_MODE, /**< High Performance Mode */
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} OBCameraPerformanceMode,
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ob_camera_performance_mode;
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/**
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* @brief Rectangle
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||||
*/
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||||
@@ -527,6 +539,10 @@ typedef enum {
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||||
FORMAT_YUYV_TO_BGRA, /**< YUYV to BGRA */
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FORMAT_YUYV_TO_Y16, /**< YUYV to Y16 */
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FORMAT_YUYV_TO_Y8, /**< YUYV to Y8 */
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FORMAT_RGBA_TO_RGB, /**< RGBA to RGB */
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FORMAT_BGRA_TO_BGR, /**< BGRA to BGR */
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FORMAT_Y16_TO_RGB, /**< Y16 to RGB */
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FORMAT_Y8_TO_RGB, /**< Y8 to RGB */
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} OBConvertFormat,
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ob_convert_format;
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||||
@@ -714,14 +730,14 @@ typedef struct {
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||||
double zpps; // zpps=z0/fx
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float baseline; // baseline length, for monocular camera,it means the distance of laser to the center of IR-CMOS
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double fx; // focus
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||||
uint8_t bitSize; // disparity bit size（raw disp bit size，for example: MX6000 is 12, MX6600 is 14）
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||||
float unit; // reference units：unit=10 denote 1cm; unit=1 denote 1mm; unit=0.5 denote 0.5mm; and so on
|
||||
uint8_t bitSize; // disparity bit size (raw disp bit size, for example: MX6000 is 12, MX6600 is 14)
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||||
float unit; // reference units: unit=10 denote 1cm; unit=1 denote 1mm; unit=0.5 denote 0.5mm; and so on
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float minDisparity; // dual disparity coefficient
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||||
uint8_t packMode; // data pack mode
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float dispOffset; // disparity offset，actual disp=chip disp + disp_offset
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int32_t invalidDisp; // invalid disparity，usually is 0，dual IR add a auxiliary value.
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||||
int32_t dispIntPlace; // disp integer digits，default is 8，Gemini2 XL is 10
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||||
uint8_t isDualCamera; // 0 monocular camera，1 dual camera
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||||
float dispOffset; // disparity offset, actual disp=chip disp + disp_offset
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||||
int32_t invalidDisp; // invalid disparity, usually is 0, dual IR add a auxiliary value.
|
||||
int32_t dispIntPlace; // disp integer digits, default is 8, Gemini2 XL is 10
|
||||
uint8_t isDualCamera; // 0 monocular camera, 1 dual camera
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||||
} OBDisparityParam, ob_disparity_param;
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||||
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||||
/**
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||||
@@ -826,7 +842,7 @@ typedef enum {
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||||
/**
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||||
* @brief Secondary synchronize mode
|
||||
* @brief Secondary device. Both process input trigger signal and output trigger signal to other devices.
|
||||
* @brief Different sensors in a single devices receive trigger signals respectively：ext trigger -> RGB && ext trigger -> IR/Depth/TOF
|
||||
* @brief Different sensors in a single devices receive trigger signals respectively: ext trigger -> RGB && ext trigger -> IR/Depth/TOF
|
||||
*
|
||||
* @attention With the current Gemini 2 device set to this mode, each Sensor receives the first external trigger signal
|
||||
* after the stream is turned on and starts timing self-triggering at the set frame rate until the stream is turned off
|
||||
@@ -860,7 +876,7 @@ typedef enum {
|
||||
* @brief Software trigger synchronize mode as secondary device
|
||||
* @brief The slave receives the external trigger signal (the external trigger signal comes from the soft trigger host) and outputs the trigger signal to
|
||||
* the external relay.
|
||||
* @brief Different sensors in a single machine receive trigger signals respectively：ext trigger -> RGB && ext trigger -> IR/Depth/TOF
|
||||
* @brief Different sensors in a single machine receive trigger signals respectively: ext trigger -> RGB && ext trigger -> IR/Depth/TOF
|
||||
*/
|
||||
OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER = 0x07,
|
||||
|
||||
@@ -1295,14 +1311,14 @@ typedef struct {
|
||||
/**
|
||||
* @brief The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.
|
||||
*
|
||||
* @attention This parameter is only valid for some models， please refer to the product manual for details.
|
||||
* @attention This parameter is only valid for some models, please refer to the product manual for details.
|
||||
*/
|
||||
int depthDelayUs;
|
||||
|
||||
/**
|
||||
* @brief The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.
|
||||
*
|
||||
* @attention This parameter is only valid for some models， please refer to the product manual for details.
|
||||
* @attention This parameter is only valid for some models, please refer to the product manual for details.
|
||||
*/
|
||||
int colorDelayUs;
|
||||
|
||||
@@ -1548,14 +1564,14 @@ typedef enum {
|
||||
|
||||
/**
|
||||
* @brief Power line frequency
|
||||
* @brief For anti-flickering， 0：Close， 1： 50Hz， 2： 60Hz， 3： Auto
|
||||
* @brief For anti-flickering, 0: Close, 1: 50Hz, 2: 60Hz, 3: Auto
|
||||
*/
|
||||
OB_FRAME_METADATA_TYPE_POWER_LINE_FREQUENCY = 15,
|
||||
|
||||
/**
|
||||
* @brief Low light compensation
|
||||
*
|
||||
* @attention The low light compensation is a feature inside the device，and can not manually control it.
|
||||
* @attention The low light compensation is a feature inside the device, and can not manually control it.
|
||||
*/
|
||||
OB_FRAME_METADATA_TYPE_LOW_LIGHT_COMPENSATION = 16,
|
||||
|
||||
@@ -1678,9 +1694,26 @@ typedef enum {
|
||||
*
|
||||
*/
|
||||
OB_UVC_BACKEND_TYPE_V4L2,
|
||||
|
||||
/**
|
||||
* @brief Use MSMF backend to access the UVC device
|
||||
*/
|
||||
OB_UVC_BACKEND_TYPE_MSMF,
|
||||
} ob_uvc_backend_type,
|
||||
OBUvcBackendType;
|
||||
|
||||
/**
|
||||
* @brief The playback status of the media
|
||||
*/
|
||||
typedef enum {
|
||||
OB_PLAYBACK_UNKNOWN,
|
||||
OB_PLAYBACK_PLAYING, /**< The media is playing */
|
||||
OB_PLAYBACK_PAUSED, /**< The media is paused */
|
||||
OB_PLAYBACK_STOPPED, /**< The media is stopped */
|
||||
OB_PLAYBACK_COUNT,
|
||||
} ob_playback_status,
|
||||
OBPlaybackStatus;
|
||||
|
||||
// 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
|
||||
@@ -1787,6 +1820,7 @@ typedef void(ob_frame_destroy_callback)(uint8_t *buffer, void *user_data);
|
||||
*/
|
||||
typedef void(ob_log_callback)(ob_log_severity severity, const char *message, void *user_data);
|
||||
|
||||
typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, void *user_data);
|
||||
/**
|
||||
* @brief Check if the sensor_type is a video sensor
|
||||
*
|
||||
|
||||
@@ -205,13 +205,13 @@ OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config, co
|
||||
*
|
||||
* @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
|
||||
* @param width[in] The width of the video stream
|
||||
* @param height[in] The height of the video stream
|
||||
* @param fps[in] The frame rate of the video stream
|
||||
* @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.
|
||||
* @param[in] config The pipeline configuration object
|
||||
* @param[in] stream_type The type of the stream to be enabled
|
||||
* @param[in] width The width of the video stream
|
||||
* @param[in] height The height of the video stream
|
||||
* @param[in] fps The frame rate of the video stream
|
||||
* @param[in] format The format of the video stream
|
||||
* @param[out] error 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);
|
||||
@@ -219,20 +219,20 @@ OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type s
|
||||
/**
|
||||
* @brief Enable accelerometer stream with specified parameters
|
||||
*
|
||||
* @param config[in] The pipeline configuration object
|
||||
* @param full_scale_range[in] The full scale range of the accelerometer
|
||||
* @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.
|
||||
* @param[in] config The pipeline configuration object
|
||||
* @param[in] full_scale_range The full scale range of the accelerometer
|
||||
* @param[in] sample_rate The sample rate of the accelerometer
|
||||
* @param[out] error 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);
|
||||
|
||||
/**
|
||||
* @brief Enable gyroscope stream with specified parameters
|
||||
*
|
||||
* @param config[in] The pipeline configuration object
|
||||
* @param full_scale_range[in] The full scale range of the gyroscope
|
||||
* @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.
|
||||
* @param[in] config The pipeline configuration object
|
||||
* @param[in] full_scale_range The full scale range of the gyroscope
|
||||
* @param[in] sample_rate The sample rate of the gyroscope
|
||||
* @param[out] error 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);
|
||||
|
||||
|
||||
@@ -306,7 +306,7 @@ typedef enum {
|
||||
OB_PROP_DEPTH_ROTATE_INT = 118,
|
||||
|
||||
/**
|
||||
* @brief Get hardware laser power actual level which real state of laser element. OB_PROP_LASER_POWER_LEVEL_CONTROL_INT99）will effect this command
|
||||
* @brief Get hardware laser power actual level which real state of laser element. OB_PROP_LASER_POWER_LEVEL_CONTROL_INT99 will effect this command
|
||||
* which it setting and changed the hardware laser energy level.
|
||||
*/
|
||||
OB_PROP_LASER_POWER_ACTUAL_LEVEL_INT = 119,
|
||||
@@ -501,6 +501,20 @@ typedef enum {
|
||||
* @brief hardware noise remove filter threshold ,range [0.0 - 1.0]
|
||||
*/
|
||||
OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT = 212,
|
||||
/**
|
||||
* @brief soft trigger auto capture enable, use in OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING mode
|
||||
*/
|
||||
OB_DEVICE_AUTO_CAPTURE_ENABLE_BOOL = 216,
|
||||
/**
|
||||
* @brief soft trigger auto capture interval time, use in OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING mode
|
||||
*/
|
||||
OB_DEVICE_AUTO_CAPTURE_INTERVAL_TIME_INT = 217,
|
||||
|
||||
/**
|
||||
* @brief PTP time synchronization enable
|
||||
*/
|
||||
OB_DEVICE_PTP_CLOCK_SYNC_ENABLE_BOOL = 223,
|
||||
|
||||
/**
|
||||
* @brief Baseline calibration parameters
|
||||
*/
|
||||
@@ -553,7 +567,7 @@ typedef enum {
|
||||
|
||||
/**
|
||||
* @brief Device network static ip config record
|
||||
* @brief Using for get last static ip config，witch is record in device flash when user set static ip config
|
||||
* @brief Using for get last static ip config, witch is record in device flash when user set static ip config
|
||||
*
|
||||
* @attention read only
|
||||
*/
|
||||
@@ -800,10 +814,20 @@ typedef enum {
|
||||
*/
|
||||
OB_PROP_NETWORK_BANDWIDTH_TYPE_INT = 3027,
|
||||
|
||||
/**
|
||||
* @brief Switch device performance mode, currently available in Adaptive Mode and High Performance Mode, such as G335LE.
|
||||
*/
|
||||
OB_PROP_DEVICE_PERFORMANCE_MODE_INT = 3028,
|
||||
|
||||
/**
|
||||
* @brief Calibration JSON file read from device (Femto Mega, read only)
|
||||
*/
|
||||
OB_RAW_DATA_CAMERA_CALIB_JSON_FILE = 4029,
|
||||
|
||||
/**
|
||||
* @brief Confidence degree
|
||||
*/
|
||||
OB_PROP_DEBUG_ESGM_CONFIDENCE_FLOAT = 5013,
|
||||
} OBPropertyID,
|
||||
ob_property_id;
|
||||
|
||||
|
||||
@@ -0,0 +1,135 @@
|
||||
// Copyright (c) Orbbec Inc. All Rights Reserved.
|
||||
// Licensed under the MIT License.
|
||||
|
||||
/**
|
||||
* @file RecordPlayback.hpp
|
||||
* @brief Record and playback device-related types, including interfaces to create recording and playback devices,
|
||||
record and playback streaming data, etc.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include "Device.h"
|
||||
|
||||
/**
|
||||
* @brief Create a recording device for the specified device with a specified file path and compression enabled.
|
||||
*
|
||||
* @param[in] device The device to record.
|
||||
* @param[in] file_path The file path to record to.
|
||||
* @param[in] compression_enabled Whether to enable compression for the recording.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
* @return A pointer to the newly created recording device, or NULL if an error occurred.
|
||||
*/
|
||||
OB_EXPORT ob_record_device *ob_create_record_device(ob_device *device, const char *file_path, bool compression_enabled, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Delete a recording device.
|
||||
*
|
||||
* @param[in] recorder The recording device to delete.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_delete_record_device(ob_record_device *recorder, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Pause recording on the specified recording device.
|
||||
*
|
||||
* @param[in] recorder The recording device to pause.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_record_device_pause(ob_record_device *recorder, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Resume recording on the specified recording device.
|
||||
*
|
||||
* @param[in] recorder The recording device to resume.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_record_device_resume(ob_record_device *recorder, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Create a playback device for the specified file path.
|
||||
*
|
||||
* @param[in] file_path The file path to playback from.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
* @return A pointer to the newly created playback device, or NULL if an error occurred.
|
||||
*/
|
||||
OB_EXPORT ob_device *ob_create_playback_device(const char *file_path, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Pause playback on the specified playback device.
|
||||
*
|
||||
* @param[in] player The playback device to pause.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_playback_device_pause(ob_device *player, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Resume playback on the specified playback device.
|
||||
*
|
||||
* @param[in] player The playback device to resume.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_playback_device_resume(ob_device *player, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Set the playback to a specified time point of the played data.
|
||||
*
|
||||
* @param[in] player The playback device to set the position for.
|
||||
* @param[in] timestamp The position to set the playback to, in milliseconds.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_playback_device_seek(ob_device *player, const uint64_t timestamp, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Set the playback to a specified time point of the played data.
|
||||
*
|
||||
* @param[in] player The playback device to set the position for.
|
||||
* @param[in] rate The playback rate to set.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_playback_device_set_playback_rate(ob_device *player, const float rate, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Get the current playback status of the played data.
|
||||
*
|
||||
* @param[in] player The playback device to get the status for.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
* @return The current playback status of the played data.
|
||||
*/
|
||||
OB_EXPORT ob_playback_status ob_playback_device_get_current_playback_status(ob_device *player, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Set a callback function to receive playback status updates.
|
||||
*
|
||||
* @param[in] player The playback device to set the callback for.
|
||||
* @param[in] callback The callback function to receive playback status updates.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_playback_device_set_playback_status_changed_callback(ob_device *player, ob_playback_status_changed_callback callback, void *user_data,
|
||||
ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Get the current playback position of the played data.
|
||||
*
|
||||
* @param[in] player The playback device to get the position for.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
* @return The current playback position of the played data, in milliseconds.
|
||||
*/
|
||||
OB_EXPORT uint64_t ob_playback_device_get_position(ob_device *player, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Get the duration of the played data.
|
||||
*
|
||||
* @param[in] player The playback device to get the duration for.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
* @return The duration of the played data, in milliseconds.
|
||||
*/
|
||||
OB_EXPORT uint64_t ob_playback_device_get_duration(ob_device *player, ob_error **error);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} // extern "C"
|
||||
#endif
|
||||
@@ -134,13 +134,23 @@ OB_EXPORT ob_extrinsic ob_stream_profile_get_extrinsic_to(const ob_stream_profil
|
||||
/**
|
||||
* @brief Set the extrinsic for source stream to target stream
|
||||
*
|
||||
* @param[in] profile Stream profile object
|
||||
* @param[in] source Stream profile object
|
||||
* @param[in] target Target stream type
|
||||
* @param[in] extrinsic The extrinsic
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_stream_profile_set_extrinsic_to(ob_stream_profile *source, const ob_stream_profile *target, ob_extrinsic extrinsic, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Set the extrinsic for source stream to target stream type
|
||||
*
|
||||
* @param[in] source Source stream profile
|
||||
* @param[in] type Target stream type
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
* @return ob_extrinsic The extrinsic
|
||||
*/
|
||||
OB_EXPORT void ob_stream_profile_set_extrinsic_to_type(ob_stream_profile *source, const ob_stream_type type, ob_extrinsic extrinsic, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Get the frame rate of the video stream
|
||||
*
|
||||
@@ -235,7 +245,7 @@ OB_EXPORT ob_disparity_param ob_disparity_based_stream_profile_get_disparity_par
|
||||
* @brief Set the disparity process param of the disparity stream.
|
||||
*
|
||||
* @param[in] profile Stream profile object. If the profile is not for the disparity stream, an error will be returned.
|
||||
* @param[in] intrinsic The disparity process param of the disparity stream.
|
||||
* @param[in] param The disparity process param of the disparity stream.
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*/
|
||||
OB_EXPORT void ob_disparity_based_stream_profile_set_disparity_param(ob_stream_profile *profile, ob_disparity_param param, ob_error **error);
|
||||
|
||||
@@ -19,25 +19,22 @@ extern "C" {
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
OB_EXPORT bool ob_transformation_3d_to_3d(const OBPoint3f source_point3f, OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error) ;
|
||||
|
||||
OB_EXPORT bool ob_transformation_3d_to_3d(const OBPoint3f source_point3f, OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
|
||||
*
|
||||
* @param[in] source_intrinsic Source intrinsic parameters
|
||||
* @param[in] source_distortion Source distortion parameters
|
||||
* @param[in] source_point2f Source 2d point value
|
||||
* @param[in] source_depth_pixel_value The depth of sourcePoint2f in millimeters
|
||||
* @param[in] source_intrinsic Source intrinsic parameters
|
||||
* @param[in] extrinsic Transformation matrix from source to target
|
||||
* @param[out] target_point3f Target 3d point value
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
OB_EXPORT bool ob_transformation_2d_to_3d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
|
||||
OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error);
|
||||
|
||||
OB_EXPORT bool ob_transformation_2d_to_3d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
|
||||
OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error);
|
||||
|
||||
/**
|
||||
* @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
|
||||
@@ -69,46 +66,59 @@ OB_EXPORT bool ob_transformation_3d_to_2d(const OBPoint3f source_point3f, const
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
OB_EXPORT bool ob_transformation_2d_to_2d(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);
|
||||
OB_EXPORT bool ob_transformation_2d_to_2d(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);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
OB_EXPORT ob_frame *transformation_depth_frame_to_color_camera(ob_device *device, ob_frame *depth_frame, uint32_t target_color_camera_width,
|
||||
uint32_t target_color_camera_height, ob_error **error);
|
||||
uint32_t target_color_camera_height, ob_error **error);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
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);
|
||||
ob_xy_tables *xy_tables, ob_error **error);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
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.
|
||||
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.
|
||||
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.
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// Use the ob_transformation_3d_to_3d instead.
|
||||
OB_EXPORT bool ob_calibration_3d_to_3d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type,
|
||||
const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
|
||||
const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// Use the ob_transformation_2d_to_3d instead.
|
||||
OB_EXPORT bool ob_calibration_2d_to_3d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
|
||||
const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
|
||||
const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f,
|
||||
ob_error **error);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// Use the ob_transformation_3d_to_2d instead.
|
||||
OB_EXPORT bool ob_calibration_3d_to_2d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type,
|
||||
const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error);
|
||||
const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error);
|
||||
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// \deprecated This function is deprecated and will be removed in a future version.
|
||||
// Use the ob_transformation_2d_to_2d instead.
|
||||
OB_EXPORT bool ob_calibration_2d_to_2d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
|
||||
const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error);
|
||||
|
||||
|
||||
const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point2f *target_point2f,
|
||||
ob_error **error);
|
||||
/**
|
||||
* @brief save point cloud to ply file.
|
||||
*
|
||||
* @param[in] file_name Point cloud save path
|
||||
* @param[in] frame Point cloud frame
|
||||
* @param[in] save_binary Binary or textual,true: binary, false: textual
|
||||
* @param[in] use_mesh Save mesh or not, true: save as mesh, false: not save as mesh
|
||||
* @param[in] mesh_threshold Distance threshold for creating faces in point cloud,default value :50
|
||||
* @param[out] error Pointer to an error object that will be set if an error occurs.
|
||||
*
|
||||
* @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);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user