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OrbbecSDK
1.5.7
OrbbecSDK: Software-Development-Kit for Orbbec 3D-Sensor devices
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#include <Device.hpp>
Public Member Functions | |
Device (std::unique_ptr< DeviceImpl > impl) | |
Describe the entity of the RGBD camera, representing a specific model of RGBD camera. More... | |
virtual | ~Device () noexcept |
std::shared_ptr< DeviceInfo > | getDeviceInfo () |
Get device information. More... | |
std::shared_ptr< SensorList > | getSensorList () |
Get device sensor list. More... | |
std::shared_ptr< Sensor > | getSensor (OBSensorType type) |
Get specific type of sensor if device not open, SDK will automatically open the connected device and return to the instance. More... | |
void | setIntProperty (OBPropertyID propertyId, int32_t property) |
Set int type of device property. More... | |
void | setFloatProperty (OBPropertyID propertyId, float property) |
Set float type of device property. More... | |
void | setBoolProperty (OBPropertyID propertyId, bool property) |
Set bool type of device property. More... | |
int32_t | getIntProperty (OBPropertyID propertyId) |
Get int type of device property. More... | |
float | getFloatProperty (OBPropertyID propertyId) |
Get float type of device property. More... | |
bool | getBoolProperty (OBPropertyID propertyId) |
Get bool type of device property. More... | |
OBIntPropertyRange | getIntPropertyRange (OBPropertyID propertyId) |
Get int type device property range (ncluding current valueand default value) More... | |
OBFloatPropertyRange | getFloatPropertyRange (OBPropertyID propertyId) |
Get float type device property range((including current valueand default value) More... | |
OBBoolPropertyRange | getBoolPropertyRange (OBPropertyID propertyId) |
Get bool type device property range (including current value anddefault value) More... | |
void | writeAHB (uint32_t reg, uint32_t mask, uint32_t value) |
AHB register write. More... | |
void | readAHB (uint32_t reg, uint32_t mask, uint32_t *value) |
AHB AHB register read. More... | |
void | writeI2C (uint32_t moduleId, uint32_t reg, uint32_t mask, uint32_t value) |
I2C register write. More... | |
void | readI2C (uint32_t moduleId, uint32_t reg, uint32_t mask, uint32_t *value) |
I2C registers read. More... | |
void | writeFlash (uint32_t offset, const void *data, uint32_t dataSize, SetDataCallback callback, bool async=false) |
Set the properties of writing to Flash. More... | |
void | readFlash (uint32_t offset, uint32_t dataSize, GetDataCallback callback, bool async=false) |
Read Flash property. More... | |
void | setRawData (OBPropertyID propertyId, const void *data, uint32_t dataSize, SetDataCallback callback, bool async=false) |
Set raw data type of device property [Asynchronous callback]. More... | |
void | getRawData (OBPropertyID propertyId, GetDataCallback callback, bool async=false) |
Get raw data type of device property [Asynchronous callback]. More... | |
void | setStructuredData (OBPropertyID propertyId, const void *data, uint32_t dataSize) |
Set structured data type of device property. More... | |
void | getStructuredData (OBPropertyID propertyId, void *data, uint32_t *dataSize) |
Get structured data type of device property. More... | |
void | setStructuredDataExt (OBPropertyID propertyId, std::shared_ptr< OBDataBundle > dataBundle, SetDataCallback callback) |
Get structured data type of device property. More... | |
std::shared_ptr< OBDataBundle > | getStructuredDataExt (OBPropertyID propertyId) |
Get structured data type of device property. More... | |
OBProtocolVersion | getProtocolVersion () |
Get the property protocol version. More... | |
OBCmdVersion | getCmdVersion (OBPropertyID propertyId) |
Get cmdVersion of property. More... | |
uint32_t | getSupportedPropertyCount () |
Get number of devices supported property. More... | |
OBPropertyItem | getSupportedProperty (uint32_t index) |
Get device supported properties. More... | |
bool | isPropertySupported (OBPropertyID propertyId, OBPermissionType permission) |
Judge property permission support. More... | |
uint64_t | syncDeviceTime () |
Synchronize device time (synchronize local systemtime to device) More... | |
void | deviceUpgrade (const char *filePath, DeviceUpgradeCallback callback, bool async=true) |
Upgrade the device firmware. More... | |
void | sendFile (const char *filePath, const char *dstPath, SendFileCallback callback, bool async=true) |
Send files to the specified path on the device side [Asynchronouscallback]. More... | |
OBDeviceState | getDeviceState () |
Get the current state. More... | |
void | setDeviceStateChangedCallback (DeviceStateChangedCallback callback) |
Set the device state changed callbacks. More... | |
bool | activateAuthorization (const char *authCode) |
Verify device authorization code. More... | |
void | writeAuthorizationCode (const char *authCodeStr) |
Write authorization code. More... | |
std::shared_ptr< CameraParamList > | getCalibrationCameraParamList () |
Get the original parameter list of camera calibration saved in the device. The parameters in the list do not correspond to the current open-current configuration. You need to select the parameters according to the actual situation, and may need to do scaling, mirroring and other processing. Non-professional users are recommended to use the Pipeline::getCameraParam() interface. More... | |
OBDepthWorkMode | getCurrentDepthWorkMode () |
Get current depth work mode. More... | |
OBStatus | switchDepthWorkMode (const OBDepthWorkMode &workMode) |
Switch depth work mode by OBDepthWorkMode. Prefer invoke switchDepthWorkMode(const char *modeName) to switch depth mode when known the complete name of depth work mode. More... | |
OBStatus | switchDepthWorkMode (const char *modeName) |
Switch depth work mode by work mode name. More... | |
std::shared_ptr< OBDepthWorkModeList > | getDepthWorkModeList () |
Request support depth work mode list. More... | |
void | reboot () |
Device restart. More... | |
OBDeviceSyncConfig | getSyncConfig () |
获取当前设备同步配置 More... | |
void | setSyncConfig (const OBDeviceSyncConfig &deviceSyncConfig) |
设置设备同步配置 More... | |
Friends | |
class | Pipeline |
class | Recorder |
Definition at line 33 of file Device.hpp.
ob::Device::Device | ( | std::unique_ptr< DeviceImpl > | impl | ) |
Describe the entity of the RGBD camera, representing a specific model of RGBD camera.
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virtualnoexcept |
std::shared_ptr<DeviceInfo> ob::Device::getDeviceInfo | ( | ) |
Get device information.
std::shared_ptr<SensorList> ob::Device::getSensorList | ( | ) |
Get device sensor list.
std::shared_ptr<Sensor> ob::Device::getSensor | ( | OBSensorType | type | ) |
Get specific type of sensor if device not open, SDK will automatically open the connected device and return to the instance.
void ob::Device::setIntProperty | ( | OBPropertyID | propertyId, |
int32_t | property | ||
) |
Set int type of device property.
propertyId | Property id |
property | Property to be set |
void ob::Device::setFloatProperty | ( | OBPropertyID | propertyId, |
float | property | ||
) |
Set float type of device property.
propertyId | Property id |
property | Property to be set |
void ob::Device::setBoolProperty | ( | OBPropertyID | propertyId, |
bool | property | ||
) |
Set bool type of device property.
propertyId | Property id |
property | Property to be set |
int32_t ob::Device::getIntProperty | ( | OBPropertyID | propertyId | ) |
Get int type of device property.
propertyId | Property id |
float ob::Device::getFloatProperty | ( | OBPropertyID | propertyId | ) |
Get float type of device property.
propertyId | Property id |
bool ob::Device::getBoolProperty | ( | OBPropertyID | propertyId | ) |
Get bool type of device property.
propertyId | Property id |
OBIntPropertyRange ob::Device::getIntPropertyRange | ( | OBPropertyID | propertyId | ) |
Get int type device property range (ncluding current valueand default value)
propertyId | Property id |
OBFloatPropertyRange ob::Device::getFloatPropertyRange | ( | OBPropertyID | propertyId | ) |
Get float type device property range((including current valueand default value)
propertyId | Property id |
OBBoolPropertyRange ob::Device::getBoolPropertyRange | ( | OBPropertyID | propertyId | ) |
Get bool type device property range (including current value anddefault value)
propertyId | Property id |
void ob::Device::writeAHB | ( | uint32_t | reg, |
uint32_t | mask, | ||
uint32_t | value | ||
) |
AHB register write.
reg | Register to be written |
mask | The mask to be writen |
value | The value to be written |
void ob::Device::readAHB | ( | uint32_t | reg, |
uint32_t | mask, | ||
uint32_t * | value | ||
) |
AHB AHB register read.
reg | Register to be read |
mask | The mask to be read |
value | The value to be returned |
void ob::Device::writeI2C | ( | uint32_t | moduleId, |
uint32_t | reg, | ||
uint32_t | mask, | ||
uint32_t | value | ||
) |
I2C register write.
reg | I2C module ID to be written |
reg | Register to be written |
mask | The mask to be written |
value | he value to be written |
void ob::Device::readI2C | ( | uint32_t | moduleId, |
uint32_t | reg, | ||
uint32_t | mask, | ||
uint32_t * | value | ||
) |
I2C registers read.
reg | I2C module ID to be read |
reg | Register to be read |
mask | The mask to be read |
value | The value to be returned |
void ob::Device::writeFlash | ( | uint32_t | offset, |
const void * | data, | ||
uint32_t | dataSize, | ||
SetDataCallback | callback, | ||
bool | async = false |
||
) |
Set the properties of writing to Flash.
offset | flash offset address |
data | Property data to be written |
dataSize | The size of the property to be written |
callback | Write flash progress callback |
async | Whether to execute asynchronously |
void ob::Device::readFlash | ( | uint32_t | offset, |
uint32_t | dataSize, | ||
GetDataCallback | callback, | ||
bool | async = false |
||
) |
Read Flash property.
offset | flash offset address |
data | Property data to be read |
dataSize | The size of the property to get |
callback | Read data returned by flash and progress callback |
async | Whether to execute asynchronously |
void ob::Device::setRawData | ( | OBPropertyID | propertyId, |
const void * | data, | ||
uint32_t | dataSize, | ||
SetDataCallback | callback, | ||
bool | async = false |
||
) |
Set raw data type of device property [Asynchronous callback].
propertyId | Property id |
data | Property data to be set |
dataSize | The size of the property data to be set |
callback | rawdata set progress callback |
async | Whether to execute asynchronously |
void ob::Device::getRawData | ( | OBPropertyID | propertyId, |
GetDataCallback | callback, | ||
bool | async = false |
||
) |
Get raw data type of device property [Asynchronous callback].
propertyId | Property id |
data | Property data obtained |
dataSize | Get the size of the property |
callback | Get the returned data and progress callback |
async | Whether to execute asynchronously |
void ob::Device::setStructuredData | ( | OBPropertyID | propertyId, |
const void * | data, | ||
uint32_t | dataSize | ||
) |
Set structured data type of device property.
propertyId | Property id |
data | Property data to be set |
dataSize | The size of the attribute to be set |
void ob::Device::getStructuredData | ( | OBPropertyID | propertyId, |
void * | data, | ||
uint32_t * | dataSize | ||
) |
Get structured data type of device property.
propertyId | Property id |
data | Property data obtained |
dataSize | Get the size of the attribute |
void ob::Device::setStructuredDataExt | ( | OBPropertyID | propertyId, |
std::shared_ptr< OBDataBundle > | dataBundle, | ||
SetDataCallback | callback | ||
) |
Get structured data type of device property.
propertyId | Property id |
dataBundle | Target data |
callback | Callback of setting |
std::shared_ptr<OBDataBundle> ob::Device::getStructuredDataExt | ( | OBPropertyID | propertyId | ) |
Get structured data type of device property.
propertyId | Property id |
OBProtocolVersion ob::Device::getProtocolVersion | ( | ) |
Get the property protocol version.
OBCmdVersion ob::Device::getCmdVersion | ( | OBPropertyID | propertyId | ) |
Get cmdVersion of property.
propertyId | Property id |
uint32_t ob::Device::getSupportedPropertyCount | ( | ) |
Get number of devices supported property.
OBPropertyItem ob::Device::getSupportedProperty | ( | uint32_t | index | ) |
Get device supported properties.
uint32_t | Property index |
bool ob::Device::isPropertySupported | ( | OBPropertyID | propertyId, |
OBPermissionType | permission | ||
) |
Judge property permission support.
propertyId | Property id |
permission | Types of read and write permissions that need to be interpreted |
uint64_t ob::Device::syncDeviceTime | ( | ) |
Synchronize device time (synchronize local systemtime to device)
void ob::Device::deviceUpgrade | ( | const char * | filePath, |
DeviceUpgradeCallback | callback, | ||
bool | async = true |
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) |
Upgrade the device firmware.
filePath | Firmware path |
callback | Firmware upgrade progress and status callback |
async | Whether to execute asynchronously |
void ob::Device::sendFile | ( | const char * | filePath, |
const char * | dstPath, | ||
SendFileCallback | callback, | ||
bool | async = true |
||
) |
Send files to the specified path on the device side [Asynchronouscallback].
filePath | Original file path |
dstPath | Accept the save path on the device side |
callback | File transfer callback |
async | Whether to execute asynchronously |
OBDeviceState ob::Device::getDeviceState | ( | ) |
Get the current state.
void ob::Device::setDeviceStateChangedCallback | ( | DeviceStateChangedCallback | callback | ) |
Set the device state changed callbacks.
callback | The callback function that is triggered when the device status changes (for example, the frame rate is automatically reduced or the stream is closed due to high temperature, etc.) |
bool ob::Device::activateAuthorization | ( | const char * | authCode | ) |
Verify device authorization code.
authCode | Authorization code |
void ob::Device::writeAuthorizationCode | ( | const char * | authCodeStr | ) |
Write authorization code.
authCode | Authorization code |
std::shared_ptr<CameraParamList> ob::Device::getCalibrationCameraParamList | ( | ) |
Get the original parameter list of camera calibration saved in the device. The parameters in the list do not correspond to the current open-current configuration. You need to select the parameters according to the actual situation, and may need to do scaling, mirroring and other processing. Non-professional users are recommended to use the Pipeline::getCameraParam() interface.
OBDepthWorkMode ob::Device::getCurrentDepthWorkMode | ( | ) |
Get current depth work mode.
OBStatus ob::Device::switchDepthWorkMode | ( | const OBDepthWorkMode & | workMode | ) |
Switch depth work mode by OBDepthWorkMode. Prefer invoke switchDepthWorkMode(const char *modeName) to switch depth mode when known the complete name of depth work mode.
[in] | workMode | Depth work mode come from ob_depth_work_mode_list which return by ob_device_get_depth_work_mode_list |
OBStatus ob::Device::switchDepthWorkMode | ( | const char * | modeName | ) |
Switch depth work mode by work mode name.
[in] | mode | name Depth work mode name which equals to ob_depth_work_mode.name |
std::shared_ptr<OBDepthWorkModeList> ob::Device::getDepthWorkModeList | ( | ) |
Request support depth work mode list.
void ob::Device::reboot | ( | ) |
OBDeviceSyncConfig ob::Device::getSyncConfig | ( | ) |
void ob::Device::setSyncConfig | ( | const OBDeviceSyncConfig & | deviceSyncConfig | ) |
设置设备同步配置
用于配置 单机内的不同 Sensor 的曝光同步功能 和 多机同步功能
[out] | deviceSyncConfig | 设备同步配置 |
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friend |
Definition at line 714 of file Device.hpp.
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friend |
Definition at line 715 of file Device.hpp.