OrbbecSDK  1.5.7
OrbbecSDK: Software-Development-Kit for Orbbec 3D-Sensor devices
ObTypes.h
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1 // License: Apache 2.0. See LICENSE file in root directory.
2 // Copyright(c) 2020 Orbbec Corporation. All Rights Reserved.
3 
14 #pragma once
15 
16 #if(defined(WIN32) || defined(_WIN32) || defined(WINCE))
17 #ifdef OB_EXPORTS
18 #define OB_EXTENSION_API __declspec(dllexport)
19 #define OB_EXTENSION_INTERNAL_API __declspec(dllexport)
20 #else
21 #define OB_EXTENSION_API __declspec(dllimport)
22 #define OB_EXTENSION_INTERNAL_API
23 #endif
24 #else
25 #define OB_EXTENSION_API __attribute__((visibility("default")))
26 #define OB_EXTENSION_INTERNAL_API
27 #endif
28 
29 #if defined(__GNUC__) || defined(__clang__)
30 #define DEPRECATED __attribute__((deprecated))
31 #elif defined(_MSC_VER)
32 #define DEPRECATED __declspec(deprecated)
33 #else
34 #pragma message("WARNING: You need to implement DEPRECATED for this compiler")
35 #define DEPRECATED
36 #endif
37 
38 #pragma pack(push, 1) // struct 1-byte align
39 
40 #ifdef __cplusplus
41 extern "C" {
42 #endif
43 
44 #include <stdbool.h>
45 #include <stdint.h>
46 
47 typedef struct ContextImpl ob_context;
48 typedef struct DeviceImpl ob_device;
49 typedef struct DeviceInfoImpl ob_device_info;
50 typedef struct DeviceListImpl ob_device_list;
51 typedef struct CameraParamListImpl ob_camera_param_list;
52 typedef struct SensorImpl ob_sensor;
53 typedef struct SensorListImpl ob_sensor_list;
54 typedef struct StreamProfileImpl ob_stream_profile;
55 typedef struct StreamProfileListImpl ob_stream_profile_list;
56 typedef struct CFrameImpl ob_frame;
57 typedef struct FilterImpl ob_filter;
58 typedef struct PipelineImpl ob_pipeline;
59 typedef struct ConfigImpl ob_config;
60 typedef struct RecorderImpl ob_recorder;
61 typedef struct PlaybackImpl ob_playback;
62 typedef struct OBDepthWorkModeListImpl ob_depth_work_mode_list;
63 
71 typedef enum {
78 
86 typedef enum {
89 } OBStatus,
90  ob_status;
91 
99 typedef enum {
106 } OBLogSeverity,
108 
118 typedef enum {
134 
142 typedef struct ob_error {
143  ob_status status;
144  char message[256];
146  char function[256];
147  char args[256];
148  ob_exception_type exception_type;
150 } ob_error;
151 
159 typedef enum {
168 } OBSensorType,
170 
178 typedef enum {
181  0,
189 } OBStreamType,
191 
199 typedef enum {
211 } OBFrameType,
213 
221 typedef enum {
253 } OBFormat,
254  ob_format;
255 
256 #define OB_FORMAT_RGB888 OB_FORMAT_RGB // \if English Alias of OB_FORMAT_RGB for compatible \else 别名,用于兼容旧版本命名 \endif
257 #define OB_FORMAT_MJPEG OB_FORMAT_MJPG // \if English Alias of OB_FORMAT_MJPG for compatible \else 别名,用于兼容旧版本命名 \endif
258 
266 typedef enum {
268  STAT_DONE = 3,
272  ERR_VERIFY = -1,
273  ERR_PROGRAM = -2,
274  ERR_ERASE = -3,
277  ERR_OTHER = -6,
278  ERR_DDR = -7,
289 typedef enum {
301 
309 typedef enum {
321 
329 typedef struct {
330  void * data;
331  uint32_t size;
332  uint32_t offset;
333  uint32_t fullDataSize;
335 
343 typedef struct {
344  int32_t cur;
345  int32_t max;
346  int32_t min;
347  int32_t step;
348  int32_t def;
350 
358 typedef struct {
359  float cur;
360  float max;
361  float min;
362  float step;
363  float def;
365 
373 typedef struct {
374  bool cur;
375  bool max;
376  bool min;
377  bool step;
378  bool def;
380 
388 typedef struct {
389  float fx;
390  float fy;
391  float cx;
392  float cy;
393  int16_t width;
394  int16_t height;
396 
404 typedef struct {
405  float k1;
406  float k2;
407  float k3;
408  float k4;
409  float k5;
410  float k6;
411  float p1;
412  float p2;
414 
422 typedef struct {
423  float rot[9];
424  float trans[3];
426 
434 typedef struct {
440 
441  // TODO lumiaozi 2022 年 10 月 12 日 14:28:59 最新算法定义没有镜像参数
442  bool isMirrored;
444 
453 typedef struct {
460 
465 typedef struct {
466  OBCameraIntrinsic leftIntrin; // target :单目结构光以及双目左 L
468  float leftRot[9];
469 
472  float rightRot[9];
473 
474  OBCameraIntrinsic leftVirtualIntrin; // output intrinsics from rectification (and rotation)
477 
478 typedef struct MaskFilterConfig_S {
479  float scale;
480  int margin_th_u; // 对应在 src 图像的边缘宽度
481  int margin_th_v; // 对应在 src 图像的边缘宽度
482  int mask_margin_th; // 在 mask 图像的边缘宽度
485 
493 typedef enum {
497 } OBAlignMode,
499 
507 typedef struct {
508  uint32_t x;
509  uint32_t y;
510  uint32_t width;
511  uint32_t height;
512 } OBRect, ob_rect;
513 
521 typedef enum {
536 
537 // DEPRECATED: 仅用于旧版本程序兼容,会在后续迭代版本彻底删除
538 #define FORMAT_MJPEG_TO_I420 FORMAT_MJPG_TO_I420
539 #define FORMAT_MJPEG_TO_NV21 FORMAT_MJPG_TO_NV21
540 #define FORMAT_MJPEG_TO_RGB888 FORMAT_MJPG_TO_RGB888
541 #define FORMAT_MJPEG_TO_BGR888 FORMAT_MJPG_TO_BGR888
542 #define FORMAT_MJPEG_TO_BGRA FORMAT_MJPG_TO_BGRA
543 
551 typedef enum {
569 
577 typedef enum {
588 
596 typedef enum {
603 
611 typedef struct {
612  float x;
613  float y;
614  float z;
616 
624 typedef uint64_t OBDeviceState, ob_device_state;
625 
633 typedef struct {
634  float cpuTemp;
635  float irTemp;
636  float ldmTemp;
638  float tecTemp;
639  float imuTemp;
640  float rgbTemp;
641  float irLeftTemp;
642  float irRightTemp;
643  float chipTopTemp;
646 
654 typedef enum {
660 
668 typedef enum {
672 } OBDeviceType,
674 
682 typedef enum {
697 } OBMediaType,
699 
707 typedef enum {
712 } OBMediaState,
714 
725 typedef enum {
734 
742 typedef enum {
749 
757 typedef struct {
758  float x;
759  float y;
760  float z;
761 } OBPoint, ob_point;
762 
770 typedef struct {
771  float x;
772  float y;
773  float z;
774  float r;
775  float g;
776  float b;
778 
779 typedef enum {
784 
785 typedef struct {
788 
796 typedef struct {
797  int32_t upper;
798  int32_t lower;
800 
808 typedef enum {
822 
835 
850 
869 
882 
896 
913 
929 
938 
939 } OBSyncMode,
941 
942 // 别名,用于兼容旧版本命名
943 #define OB_SYNC_STOP OB_SYNC_MODE_CLOSE
944 #define OB_SYNC_SINGLE_MODE OB_SYNC_MODE_STANDALONE
945 #define OB_SYNC_ONLINE_HOST_MODE OB_SYNC_MODE_PRIMARY
946 #define OB_SYNC_ONLINE_SLAVE_MODE OB_SYNC_MODE_SECONDARY
947 #define OB_SYNC_ONLY_MCU_MODE OB_SYNC_MODE_PRIMARY_MCU_TRIGGER
948 #define OB_SYNC_ONLY_IR_MODE OB_SYNC_MODE_PRIMARY_IR_TRIGGER
949 
959 typedef struct {
968 
982 
996 
1010 
1025 
1040 
1048  uint16_t deviceId;
1050 
1051 // 别名,用于兼容旧版本命名
1052 #define OBMultiDeviceSyncConfig OBDeviceSyncConfig
1053 #define ob_multi_device_sync_config ob_device_sync_config
1054 #define OB_MULTI_DEVICE_SYNC_CONFIG OB_DEVICE_SYNC_CONFIG
1055 // #define tofPhaseDelay irTriggerSignalInDelay
1056 // #define rgbPhaseDelay rgbTriggerSignalInDelay
1057 // #define outPhaseDelay deviceTriggerSignalOutDelay
1058 // #define outOCPolarity deviceTriggerSignalOutPolarity
1059 // #define mcuHostFps mcuTriggerFrequency
1060 // #define curDevId deviceId
1061 
1070 typedef struct {
1071  uint8_t checksum[16];
1072  char name[32];
1074 
1083 typedef struct {
1084  uint8_t major;
1085  uint8_t minor;
1086  uint8_t patch;
1088 
1097 typedef enum {
1098  OB_CMD_VERSION_V0 = (uint16_t)0,
1099  OB_CMD_VERSION_V1 = (uint16_t)1,
1100  OB_CMD_VERSION_V2 = (uint16_t)2,
1101  OB_CMD_VERSION_V3 = (uint16_t)3,
1102 
1103  OB_CMD_VERSION_NOVERSION = (uint16_t)0xfffe,
1104  OB_CMD_VERSION_INVALID = (uint16_t)0xffff,
1105 } OB_CMD_VERSION,
1107 
1139 typedef struct OBDataBundle {
1140  OBCmdVersion cmdVersion;
1141 
1142  void *data;
1143  uint32_t dataSize;
1145 
1147  uint32_t itemTypeSize;
1148  uint32_t itemCount;
1152 
1157 typedef struct {
1158  uint16_t dhcp;
1159  uint8_t address[4];
1160  uint8_t mask[4];
1161  uint8_t gateway[4];
1163 
1171 typedef enum {
1172  OB_COMM_USB = 0x00,
1173  OB_COMM_NET = 0x01,
1176 
1184 typedef enum {
1189 } OBUSBPowerState,
1191 
1199 typedef enum {
1202 } OBDCPowerState,
1204 
1212 typedef enum {
1219 
1227 typedef enum {
1233 
1241 typedef enum {
1250 
1269 
1288 
1304 typedef void (*ob_file_send_callback)(ob_file_tran_state state, const char *message, uint8_t percent, void *user_data);
1305 
1320 typedef void (*ob_device_upgrade_callback)(ob_upgrade_state state, const char *message, uint8_t percent, void *user_data);
1321 
1335 typedef void (*ob_device_state_callback)(ob_device_state state, const char *message, void *user_data);
1336 
1350 typedef void (*ob_set_data_callback)(ob_data_tran_state state, uint8_t percent, void *user_data);
1351 
1365 typedef void (*ob_get_data_callback)(ob_data_tran_state state, ob_data_chunk *dataChunk, void *user_data);
1366 
1378 typedef void (*ob_media_state_callback)(ob_media_state state, void *user_data);
1379 
1393 typedef void (*ob_device_changed_callback)(ob_device_list *removed, ob_device_list *added, void *user_data);
1394 
1406 typedef void (*ob_frame_callback)(ob_frame *frame, void *user_data);
1407 #define ob_filter_callback ob_frame_callback
1408 #define ob_playback_callback ob_frame_callback
1409 
1421 typedef void (*ob_frameset_callback)(ob_frame *frameset, void *user_data);
1422 
1434 typedef void(ob_frame_destroy_callback)(void *buffer, void *context);
1435 
1444 #define is_ir_sensor(sensor_type) (sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT || sensor_type == OB_SENSOR_IR_RIGHT)
1445 #define isIRSensor is_ir_sensor
1446 
1455 #define is_ir_stream(stream_type) (stream_type == OB_STREAM_IR || stream_type == OB_STREAM_IR_LEFT || stream_type == OB_STREAM_IR_RIGHT)
1456 #define isIRStream is_ir_stream
1457 
1466 #define is_ir_frame(frame_type) (frame_type == OB_FRAME_IR || frame_type == OB_FRAME_IR_LEFT || frame_type == OB_FRAME_IR_RIGHT)
1467 #define isIRFrame is_ir_frame
1468 
1469 #ifdef __cplusplus
1470 }
1471 #endif
1472 
1473 #pragma pack(pop)
USB.
Definition: ObTypes.h:1172
uint32_t y
origin coordinate y
Definition: ObTypes.h:509
OBCameraDistortion rgbDistortion
Color camera distortion parameters 1.
Definition: ObTypes.h:457
float z
z coordinate
Definition: ObTypes.h:760
enum OBDepthCroppingMode OB_DEPTH_CROPPING_MODE
enum OBGyroSampleRate ob_accel_sample_rate
float cx
Optical center abscissa.
Definition: ObTypes.h:391
OBStatus
error code
Definition: ObTypes.h:86
enum OBGyroSampleRate ob_gyro_sample_rate
bool cur
current value
Definition: ObTypes.h:374
struct MaskFilterConfig_S OBMaskFilterConfig
struct StreamProfileListImpl ob_stream_profile_list
Definition: ObTypes.h:55
OBCameraIntrinsic leftIntrin
Definition: ObTypes.h:466
ob_power_line_freq_mode
Power line frequency mode,for Color camera anti-flicker configuration.
Definition: ObTypes.h:1227
enum OBDepthCroppingMode ob_depth_cropping_mode
struct OBAccelValue OBGyroValue
enum OBLogSeverity ob_device_log_severity_level
enum OBTofFilterRange ob_tof_filter_range
enum OBMediaType OB_MEDIA_TYPE
struct SensorImpl ob_sensor
Definition: ObTypes.h:52
struct ConfigImpl ob_config
Definition: ObTypes.h:59
version 3.0
Definition: ObTypes.h:1100
网络设备的 IP 地址配置(ipv4)
Definition: ObTypes.h:1157
bool isMirrored
Whether the image frame corresponding to this group of parameters is mirrored.
Definition: ObTypes.h:442
version 4.0
Definition: ObTypes.h:1101
int32_t lower
Lower threshold, unit: ms.
Definition: ObTypes.h:798
float imuTemp
IMU temperature.
Definition: ObTypes.h:639
uint32_t height
rectangle height
Definition: ObTypes.h:511
enum OBCommunicationType OB_COMMUNICATION_TYPE
OBCmdVersion cmdVersion
propertyId&#39;s OBCmdVersion
Definition: ObTypes.h:1140
OBCameraIntrinsic rgbIntrinsic
Color camera internal parameters.
Definition: ObTypes.h:436
float step
step value
Definition: ObTypes.h:362
enum OB_FRAME_AGGREGATE_OUTPUT_MODE ob_frame_aggregate_output_mode
bool max
maximum value
Definition: ObTypes.h:375
Rotate 90.
Definition: ObTypes.h:1214
Unknown type.
Definition: ObTypes.h:937
OBDepthCroppingMode
Depth crop mode enumeration.
Definition: ObTypes.h:654
OBCameraDistortion leftDisto
Definition: ObTypes.h:467
enum OBConvertFormat ob_convert_format
struct OBTofExposureThresholdControl ob_tof_exposure_threshold_control
OBFormat
Enumeration value describing the pixel format.
Definition: ObTypes.h:221
float rgbTemp
RGB temperature.
Definition: ObTypes.h:640
enum OBGyroSampleRate OBAccelSampleRate
enum OBUpgradeState ob_upgrade_state
OBSyncMode
Sync mode.
Definition: ObTypes.h:808
MCU Primary synchronize mode.
Definition: ObTypes.h:881
Float range structure.
Definition: ObTypes.h:358
struct PlaybackImpl ob_playback
Definition: ObTypes.h:61
float x
x coordinate
Definition: ObTypes.h:758
uint8_t major
Major version number.
Definition: ObTypes.h:1084
OB_CMD_VERSION
Definition: ObTypes.h:1097
float irLeftTemp
if English Left IR temperature左IR温度
Definition: ObTypes.h:641
float chipBottomTemp
if English MX6600 bottom temperatureMX6600 bottom 温度
Definition: ObTypes.h:644
float b
blue channel component
Definition: ObTypes.h:776
enum OBAccelFullScaleRange ob_accel_full_scale_range
3D point structure in SDK
Definition: ObTypes.h:757
int32_t step
step value
Definition: ObTypes.h:347
enum OBStreamType ob_stream_type
struct OBBoolPropertyRange ob_bool_property_range
enum OBCompressionMode ob_compression_mode
enum OBCommunicationType ob_communication_type
struct OBTofExposureThresholdControl TOF_EXPOSURE_THRESHOLD_CONTROL
void * data
Definition: ObTypes.h:1142
float cur
current value
Definition: ObTypes.h:359
enum OBMediaType ob_media_type
float ldmTemp
laser temperature
Definition: ObTypes.h:636
float y
y-direction component
Definition: ObTypes.h:613
enum OBSensorType ob_sensor_type
float irTemp
IR temperature.
Definition: ObTypes.h:635
OBCameraDistortion rgbDistortion
Color camera distortion parameters 1.
Definition: ObTypes.h:438
Command version of device property.
Definition: ObTypes.h:1083
bool min
minimum value
Definition: ObTypes.h:376
float cpuTemp
CPU temperature.
Definition: ObTypes.h:634
OBCameraDistortion depthDistortion
Depth camera distortion parameters.
Definition: ObTypes.h:456
float p2
Tangential distortion factor 2.
Definition: ObTypes.h:412
OBDCPowerState
DC power status.
Definition: ObTypes.h:1199
float g
green channel component
Definition: ObTypes.h:775
OBCameraIntrinsic depthIntrinsic
Depth camera internal parameters.
Definition: ObTypes.h:435
uint32_t offset
The offset of the current data block relative to the complete data.
Definition: ObTypes.h:332
uint8_t minor
Minor version number.
Definition: ObTypes.h:1085
OBCameraIntrinsic rightVirtualIntrin
Definition: ObTypes.h:475
OBCameraDistortion rightDisto
Definition: ObTypes.h:471
OBCameraDistortion depthDistortion
Depth camera distortion parameters.
Definition: ObTypes.h:437
float cy
Optical center ordinate.
Definition: ObTypes.h:392
enum OBAccelFullScaleRange OB_ACCEL_FULL_SCALE_RANGE
Data structures for accelerometers and gyroscopes.
Definition: ObTypes.h:611
IR Primary synchronize mode.
Definition: ObTypes.h:895
struct OBDeviceTemperature ob_device_temperature
FrameSet for any case will be output.
Definition: ObTypes.h:1285
enum OBFrameType ob_frame_type
struct OBCompressionParams OB_COMPRESSION_PARAMS
OBAccelFullScaleRange
Accelerometer range enumeration.
Definition: ObTypes.h:596
float k2
Radial distortion factor 2.
Definition: ObTypes.h:406
struct DeviceListImpl ob_device_list
Definition: ObTypes.h:50
深度对齐校验参数
Definition: ObTypes.h:465
float k6
Radial distortion factor 6.
Definition: ObTypes.h:410
Data block structure for data block transmission.
Definition: ObTypes.h:329
float mainBoardTemp
motherboard temperature
Definition: ObTypes.h:637
int32_t min
minimum value
Definition: ObTypes.h:346
bool def
default
Definition: ObTypes.h:378
enum OBExceptionType ob_exception_type
float tecTemp
TEC temperature.
Definition: ObTypes.h:638
struct OBAccelValue ob_accel_value
OBDataTranState
data transfer status
Definition: ObTypes.h:309
Software trigger synchronize mode.
Definition: ObTypes.h:912
struct OBDataBundle ob_data_bundle
uint16_t irTriggerSignalInDelay
IR Trigger signal input delay: Used to configure the delay between the IR/Depth/TOF Sensor receiving ...
Definition: ObTypes.h:981
struct RecorderImpl ob_recorder
Definition: ObTypes.h:60
enum ob_rotate_degree_type OBRotateDegreeType
int32_t max
maximum value
Definition: ObTypes.h:345
OBCompressionMode
Definition: ObTypes.h:779
OBLogSeverity
log level, the higher the level, the stronger the log filter
Definition: ObTypes.h:99
OBUpgradeState
Firmware upgrade status.
Definition: ObTypes.h:266
float max
maximum value
Definition: ObTypes.h:360
struct OBIntPropertyRange ob_int_property_range
version 2.0
Definition: ObTypes.h:1099
OBExceptionType
The exception types in the SDK, through the exception type, you can easily determine the specific typ...
Definition: ObTypes.h:118
float fx
focal length in x direction
Definition: ObTypes.h:389
float p1
Tangential distortion factor 1.
Definition: ObTypes.h:411
struct ob_error ob_error
The error class exposed by the SDK, users can get detailed error information according to the erro...
struct DeviceImpl ob_device
Definition: ObTypes.h:48
OBMediaState
Record playback status.
Definition: ObTypes.h:707
struct OBCompressionParams ob_compression_params
Rotation/Transformation.
Definition: ObTypes.h:422
Only FrameSet that contains all types of data frames will be output.
Definition: ObTypes.h:1249
float k1
Radial distortion factor 1.
Definition: ObTypes.h:405
uint32_t size
Current block data length.
Definition: ObTypes.h:331
void(* ob_device_changed_callback)(ob_device_list *removed, ob_device_list *added, void *user_data)
Device change (up and down) callback.
Definition: ObTypes.h:1393
OBSyncMode syncMode
Definition: ObTypes.h:967
enum OB_CMD_VERSION OBCmdVersion
version 1.0
Definition: ObTypes.h:1098
float y
y coordinate
Definition: ObTypes.h:759
Distortion Parameters.
Definition: ObTypes.h:404
struct OBCameraParam ob_camera_param
OBPermissionType
the permission type of api or property
Definition: ObTypes.h:71
struct OBDeviceIpAddrConfig ob_device_ip_addr_config
char args[256]
Definition: ObTypes.h:147
struct OBDataBundle OBDataBundle
struct OBD2CTransform ob_d2c_transform
enum OBTofFilterRange TOF_FILTER_RANGE
struct OBFloatPropertyRange ob_float_property_range
OBSensorType
Enumeration value describing the sensor type.
Definition: ObTypes.h:159
Frame aggregate output mode.
Definition: ObTypes.h:1268
uint32_t fullDataSize
full data size
Definition: ObTypes.h:333
struct OBDepthWorkMode ob_depth_work_mode
int32_t upper
Upper threshold, unit: ms.
Definition: ObTypes.h:797
struct ContextImpl ob_context
Definition: ObTypes.h:47
struct OBRect ob_rect
Camera parameters.
Definition: ObTypes.h:434
enum OBMediaState ob_media_state
float min
minimum value
Definition: ObTypes.h:361
void(* ob_device_state_callback)(ob_device_state state, const char *message, void *user_data)
device status callback
Definition: ObTypes.h:1335
uint64_t ob_device_state
Definition: ObTypes.h:624
rectangle
Definition: ObTypes.h:507
uint16_t deviceTriggerSignalOutPolarity
The device trigger signal output polarity.
Definition: ObTypes.h:1024
OBUSBPowerState
USB power status.
Definition: ObTypes.h:1184
OBCameraIntrinsic rightIntrin
Definition: ObTypes.h:470
Rotate 270.
Definition: ObTypes.h:1216
OBDeviceType
device type enumeration
Definition: ObTypes.h:668
struct StreamProfileImpl ob_stream_profile
Definition: ObTypes.h:54
float fy
focal length in y direction
Definition: ObTypes.h:390
float x
x coordinate
Definition: ObTypes.h:771
void(* ob_device_upgrade_callback)(ob_upgrade_state state, const char *message, uint8_t percent, void *user_data)
Firmware upgrade callback.
Definition: ObTypes.h:1320
OBGyroFullScaleRange
Enumeration of gyroscope ranges.
Definition: ObTypes.h:577
struct OBProtocolVersion ob_protocol_version
TOF Exposure Threshold.
Definition: ObTypes.h:796
char message[256]
Describe the detailed error log.
Definition: ObTypes.h:145
OBMediaType
record playback of the type of interest
Definition: ObTypes.h:682
enum OBUSBPowerState ob_usb_power_state
struct OBDataChunk ob_data_chunk
OBD2CTransform transform
rotation/transformation matrix
Definition: ObTypes.h:458
Depth work mode.
Definition: ObTypes.h:1070
Camera parameters.
Definition: ObTypes.h:453
enum OBGyroSampleRate OB_SAMPLE_RATE
OB_FRAME_AGGREGATE_OUTPUT_MODE
Frame aggregate output mode.
Definition: ObTypes.h:1241
float k3
Radial distortion factor 3.
Definition: ObTypes.h:407
struct DeviceInfoImpl ob_device_info
Definition: ObTypes.h:49
Get the temperature parameters of the device (unit: Celsius)
Definition: ObTypes.h:633
uint8_t patch
Patch version number.
Definition: ObTypes.h:1086
uint32_t x
origin coordinate x
Definition: ObTypes.h:508
enum OBMediaState OB_MEDIA_STATE_EM
struct CFrameImpl ob_frame
Definition: ObTypes.h:56
Software trigger synchronize mode as secondary device.
Definition: ObTypes.h:928
float irRightTemp
if English Right IR temperature右IR温度
Definition: ObTypes.h:642
enum OBDepthPrecisionLevel OB_DEPTH_PRECISION_LEVEL
uint32_t width
rectangle width
Definition: ObTypes.h:510
enum OBLogSeverity DEVICE_LOG_SEVERITY_LEVEL
3D point structure with color information
Definition: ObTypes.h:770
int16_t height
image height
Definition: ObTypes.h:394
Ethernet.
Definition: ObTypes.h:1173
int32_t cur
current value
Definition: ObTypes.h:344
struct OBDeviceTemperature DEVICE_TEMPERATURE
int32_t def
Default.
Definition: ObTypes.h:348
struct SensorListImpl ob_sensor_list
Definition: ObTypes.h:53
void(* ob_frame_callback)(ob_frame *frame, void *user_data)
dataframe callback
Definition: ObTypes.h:1406
Rotate 0.
Definition: ObTypes.h:1213
float z
z coordinate
Definition: ObTypes.h:773
struct OBDERectifyMaskParams OBDERectifyMaskParams_V0
enum OBDeviceType OB_DEVICE_TYPE
float z
z-direction component
Definition: ObTypes.h:614
uint16_t dhcp
dhcp 动态 ip 配置开关; 0: 关; 1: 开
Definition: ObTypes.h:1158
enum OBPermissionType ob_permission_type
struct OBDeviceSyncConfig ob_device_sync_config
OBDepthPrecisionLevel
depth accuracy class
Definition: ObTypes.h:725
enum OBFormat ob_format
struct OBColorPoint ob_color_point
struct OBDeviceSyncConfig OB_DEVICE_SYNC_CONFIG
OBFrameType
Describe the Frame type enumeration value.
Definition: ObTypes.h:199
struct OBDeviceIpAddrConfig DEVICE_IP_ADDR_CONFIG
void( ob_frame_destroy_callback)(void *buffer, void *context)
Customize the delete callback, 当引用计数为 0 时主动调用
Definition: ObTypes.h:1434
enum OBDepthPrecisionLevel ob_depth_precision_level
uint16_t deviceTriggerSignalOutDelay
Device trigger signal output delay, used to control the delay configuration of the host device to out...
Definition: ObTypes.h:1009
OBTofFilterRange
tof filter scene range
Definition: ObTypes.h:742
enum OBDataTranState ob_data_tran_state
OBStreamType
Enumeration value describing the type of data stream.
Definition: ObTypes.h:178
Invalid version.
Definition: ObTypes.h:1104
enum OBLogSeverity OBDeviceLogSeverityLevel
enum OB_CMD_VERSION ob_cmd_version
enum OBGyroFullScaleRange ob_gyro_full_scale_range
Standalone synchronize mode.
Definition: ObTypes.h:834
uint16_t deviceId
Device number. Users can mark the device with this number.
Definition: ObTypes.h:1048
int16_t width
image width
Definition: ObTypes.h:393
uint16_t rgbTriggerSignalInDelay
RGB trigger signal input delay is used to configure the delay from the time when an RGB Sensor receiv...
Definition: ObTypes.h:995
enum OBGyroFullScaleRange OB_GYRO_FULL_SCALE_RANGE
struct FilterImpl ob_filter
Definition: ObTypes.h:57
void(* ob_get_data_callback)(ob_data_tran_state state, ob_data_chunk *dataChunk, void *user_data)
read data callback
Definition: ObTypes.h:1365
Secondary synchronize mode.
Definition: ObTypes.h:868
OBConvertFormat
format conversion type enumeration
Definition: ObTypes.h:521
enum OBCompressionMode OB_COMPRESSION_MODE
struct CameraParamListImpl ob_camera_param_list
Definition: ObTypes.h:51
void(* ob_set_data_callback)(ob_data_tran_state state, uint8_t percent, void *user_data)
Callback for writing data.
Definition: ObTypes.h:1350
float def
default
Definition: ObTypes.h:363
OBCameraIntrinsic leftVirtualIntrin
Definition: ObTypes.h:474
void * data
current block data pointer
Definition: ObTypes.h:330
uint16_t mcuTriggerFrequency
MCU trigger frequency, used to configure the output frequency of MCU trigger signal in MCU master mod...
Definition: ObTypes.h:1039
void(* ob_frameset_callback)(ob_frame *frameset, void *user_data)
dataframe collection callback
Definition: ObTypes.h:1421
float r
red channel component
Definition: ObTypes.h:774
struct OBAccelValue ob_gyro_value
Boolean-scoped structure.
Definition: ObTypes.h:373
struct OBPoint ob_point
enum OBSyncMode ob_sync_mode
void(* ob_file_send_callback)(ob_file_tran_state state, const char *message, uint8_t percent, void *user_data)
file transfer callback
Definition: ObTypes.h:1304
OBCommunicationType
Device communication mode.
Definition: ObTypes.h:1171
Primary synchronize mode.
Definition: ObTypes.h:849
uint64_t OBDeviceState
Device state.
Definition: ObTypes.h:624
struct PipelineImpl ob_pipeline
Definition: ObTypes.h:58
float chipTopTemp
if English MX6600 top temperatureMX6600 top 温度
Definition: ObTypes.h:643
enum OBSyncMode OB_SYNC_MODE
Device synchronization configuration.
Definition: ObTypes.h:959
Close synchronize mode.
Definition: ObTypes.h:821
bool step
step value
Definition: ObTypes.h:377
ob_rotate_degree_type
Rotate degree.
Definition: ObTypes.h:1212
void(* ob_media_state_callback)(ob_media_state state, void *user_data)
Media status callbacks (recording and playback)
Definition: ObTypes.h:1378
ob_status status
Definition: ObTypes.h:143
enum OBLogSeverity ob_log_severity
uint32_t itemTypeSize
Definition: ObTypes.h:1147
struct OBCameraDistortion ob_camera_distortion
OBFileTranState
file transfer status
Definition: ObTypes.h:289
enum OBFileTranState ob_file_tran_state
enum OBDeviceType ob_device_type
float k4
Radial distortion factor 4.
Definition: ObTypes.h:408
OBCameraIntrinsic rgbIntrinsic
Color camera internal parameters.
Definition: ObTypes.h:455
ob_exception_type exception_type
The description is the specific error type of the SDK.
Definition: ObTypes.h:149
OBCameraIntrinsic depthIntrinsic
Depth camera internal parameters.
Definition: ObTypes.h:454
struct OBDepthWorkModeListImpl ob_depth_work_mode_list
Definition: ObTypes.h:62
Rotate 180.
Definition: ObTypes.h:1215
enum OB_FRAME_AGGREGATE_OUTPUT_MODE OBFrameAggregateOutputMode
struct OBCameraIntrinsic ob_camera_intrinsic
OBD2CTransform transform
rotation/transformation matrix
Definition: ObTypes.h:439
enum OBDCPowerState ob_dc_power_state
OBAlignMode
alignment mode
Definition: ObTypes.h:493
enum OBAlignMode ob_align_mode
enum OBStatus ob_status
enum ob_power_line_freq_mode OBPowerLineFreqMode
OBGyroSampleRate
Enumeration of IMU sample rate values ​​(gyroscope or accelerometer)
Definition: ObTypes.h:551
The error class exposed by the SDK, users can get detailed error information according to the erro...
Definition: ObTypes.h:142
float y
y coordinate
Definition: ObTypes.h:772
struct MaskFilterConfig_S ob_mask_filter_config
struct OBCameraParam_V0 ob_camera_param_v0
float k5
Radial distortion factor 5.
Definition: ObTypes.h:409
float x
x-direction component
Definition: ObTypes.h:612
Camera internal parameters.
Definition: ObTypes.h:388
Int range structure.
Definition: ObTypes.h:343