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
原点坐标 y
Definition: ObTypes.h:509
OBCameraDistortion rgbDistortion
彩色相机畸变参数
Definition: ObTypes.h:457
float z
Z 坐标
Definition: ObTypes.h:760
enum OBDepthCroppingMode OB_DEPTH_CROPPING_MODE
enum OBGyroSampleRate ob_accel_sample_rate
float cx
光心横坐标
Definition: ObTypes.h:391
OBStatus
错误码
Definition: ObTypes.h:86
enum OBGyroSampleRate ob_gyro_sample_rate
bool cur
当前值
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
电力线频率模式,用于Color相机防闪烁功能配置
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
版本3.0
Definition: ObTypes.h:1100
网络设备的 IP 地址配置(ipv4)
Definition: ObTypes.h:1157
bool isMirrored
本组参数对应的图像帧是否被镜像
Definition: ObTypes.h:442
版本4.0
Definition: ObTypes.h:1101
int32_t lower
阈值下限, 单位:ms
Definition: ObTypes.h:798
float imuTemp
IMU温度
Definition: ObTypes.h:639
uint32_t height
矩形高度
Definition: ObTypes.h:511
enum OBCommunicationType OB_COMMUNICATION_TYPE
OBCmdVersion cmdVersion
与控制命令关联的数据结构的版本号
Definition: ObTypes.h:1140
OBCameraIntrinsic rgbIntrinsic
彩色相机内参
Definition: ObTypes.h:436
float step
步进值
Definition: ObTypes.h:362
enum OB_FRAME_AGGREGATE_OUTPUT_MODE ob_frame_aggregate_output_mode
bool max
最大值
Definition: ObTypes.h:375
旋转90度
Definition: ObTypes.h:1214
未知类型
Definition: ObTypes.h:937
OBDepthCroppingMode
深度裁切模式枚举
Definition: ObTypes.h:654
OBCameraDistortion leftDisto
Definition: ObTypes.h:467
enum OBConvertFormat ob_convert_format
struct OBTofExposureThresholdControl ob_tof_exposure_threshold_control
OBFormat
描述像素格式的枚举值
Definition: ObTypes.h:221
float rgbTemp
RGB温度
Definition: ObTypes.h:640
enum OBGyroSampleRate OBAccelSampleRate
enum OBUpgradeState ob_upgrade_state
OBSyncMode
同步模式
Definition: ObTypes.h:808
浮点型范围的结构体
Definition: ObTypes.h:358
struct PlaybackImpl ob_playback
Definition: ObTypes.h:61
float x
X 坐标
Definition: ObTypes.h:758
uint8_t major
主版本号
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
蓝色通道分量
Definition: ObTypes.h:776
enum OBAccelFullScaleRange ob_accel_full_scale_range
SDK 中 3D 点结构体
Definition: ObTypes.h:757
int32_t step
步进值
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
当前值
Definition: ObTypes.h:359
enum OBMediaType ob_media_type
float ldmTemp
激光温度
Definition: ObTypes.h:636
float y
y 方向分量
Definition: ObTypes.h:613
enum OBSensorType ob_sensor_type
float irTemp
IR 温度
Definition: ObTypes.h:635
OBCameraDistortion rgbDistortion
彩色相机畸变参数
Definition: ObTypes.h:438
控制命令协议版本号
Definition: ObTypes.h:1083
bool min
最小值
Definition: ObTypes.h:376
float cpuTemp
cpu 温度
Definition: ObTypes.h:634
OBCameraDistortion depthDistortion
深度相机畸变参数
Definition: ObTypes.h:456
float p2
切向畸变系数 2
Definition: ObTypes.h:412
OBDCPowerState
DC电源连接状态
Definition: ObTypes.h:1199
float g
绿色通道分量
Definition: ObTypes.h:775
OBCameraIntrinsic depthIntrinsic
深度相机内参
Definition: ObTypes.h:435
uint32_t offset
当前数据块相对完整数据的偏移
Definition: ObTypes.h:332
uint8_t minor
次版本号
Definition: ObTypes.h:1085
OBCameraIntrinsic rightVirtualIntrin
Definition: ObTypes.h:475
OBCameraDistortion rightDisto
Definition: ObTypes.h:471
OBCameraDistortion depthDistortion
深度相机畸变参数
Definition: ObTypes.h:437
float cy
光心纵坐标
Definition: ObTypes.h:392
enum OBAccelFullScaleRange OB_ACCEL_FULL_SCALE_RANGE
加速度计及陀螺仪的数据结构体
Definition: ObTypes.h:611
struct OBDeviceTemperature ob_device_temperature
任何情况的FrameSet都会被输出
Definition: ObTypes.h:1285
enum OBFrameType ob_frame_type
struct OBCompressionParams OB_COMPRESSION_PARAMS
OBAccelFullScaleRange
加速度计量程枚举
Definition: ObTypes.h:596
float k2
径向畸变系数 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
径向畸变系数 6
Definition: ObTypes.h:410
数据块结构体,用于数据分块传输
Definition: ObTypes.h:329
float mainBoardTemp
主板温度
Definition: ObTypes.h:637
int32_t min
最小值
Definition: ObTypes.h:346
bool def
默认值
Definition: ObTypes.h:378
enum OBExceptionType ob_exception_type
float tecTemp
TEC温度
Definition: ObTypes.h:638
struct OBAccelValue ob_accel_value
OBDataTranState
数据传输状态
Definition: ObTypes.h:309
struct OBDataBundle ob_data_bundle
uint16_t irTriggerSignalInDelay
IR 触发信号输入延时,用于 IR/Depth/TOF Sensor 接收到触发信号后到开始曝光的延时配置,单位为微秒 ...
Definition: ObTypes.h:981
struct RecorderImpl ob_recorder
Definition: ObTypes.h:60
enum ob_rotate_degree_type OBRotateDegreeType
int32_t max
最大值
Definition: ObTypes.h:345
OBCompressionMode
Definition: ObTypes.h:779
OBLogSeverity
log 等级, 等级越高 Log 过滤力度越大
Definition: ObTypes.h:99
OBUpgradeState
固件升级状态
Definition: ObTypes.h:266
float max
最大值
Definition: ObTypes.h:360
struct OBIntPropertyRange ob_int_property_range
版本2.0
Definition: ObTypes.h:1099
OBExceptionType
SDK 内部的异常类型,通过异常类型,可以简单判断具体哪个类型的错误 详细的错误 API 接口函数、错误日志请...
Definition: ObTypes.h:118
float fx
x 方向焦距
Definition: ObTypes.h:389
float p1
切向畸变系数 1
Definition: ObTypes.h:411
struct ob_error ob_error
SDK 的对外暴露的错误类,用户可以根据该错误类,获取详细的错误信息
struct DeviceImpl ob_device
Definition: ObTypes.h:48
OBMediaState
录制回放状态
Definition: ObTypes.h:707
struct OBCompressionParams ob_compression_params
旋转 / 变换矩阵
Definition: ObTypes.h:422
只有包含所有类型数据帧的FrameSet才会被输出
Definition: ObTypes.h:1249
float k1
径向畸变系数 1
Definition: ObTypes.h:405
uint32_t size
当前块数据长度
Definition: ObTypes.h:331
void(* ob_device_changed_callback)(ob_device_list *removed, ob_device_list *added, void *user_data)
设备变化(上下线)回调
Definition: ObTypes.h:1393
OBSyncMode syncMode
同步模式
Definition: ObTypes.h:967
enum OB_CMD_VERSION OBCmdVersion
版本1.0
Definition: ObTypes.h:1098
float y
Y 坐标
Definition: ObTypes.h:759
畸变参数
Definition: ObTypes.h:404
struct OBCameraParam ob_camera_param
OBPermissionType
接口 / 属性的访问权限类型
Definition: ObTypes.h:71
struct OBDeviceIpAddrConfig ob_device_ip_addr_config
char args[256]
Definition: ObTypes.h:147
struct OBDataBundle OBDataBundle
OrbbecSDK私有接口, 未来对外开放 功能:保存多版本数据结构的数据内容;
struct OBD2CTransform ob_d2c_transform
enum OBTofFilterRange TOF_FILTER_RANGE
struct OBFloatPropertyRange ob_float_property_range
OBSensorType
描述传感器类型的枚举值
Definition: ObTypes.h:159
必须包含Color类似数据帧的FrameSet才会被输出
Definition: ObTypes.h:1268
uint32_t fullDataSize
完整数据大小
Definition: ObTypes.h:333
struct OBDepthWorkMode ob_depth_work_mode
int32_t upper
阈值上限, 单位:ms
Definition: ObTypes.h:797
struct ContextImpl ob_context
Definition: ObTypes.h:47
struct OBRect ob_rect
相机参数
Definition: ObTypes.h:434
enum OBMediaState ob_media_state
float min
最小值
Definition: ObTypes.h:361
void(* ob_device_state_callback)(ob_device_state state, const char *message, void *user_data)
设备状态回调
Definition: ObTypes.h:1335
uint64_t ob_device_state
Definition: ObTypes.h:624
矩形
Definition: ObTypes.h:507
uint16_t deviceTriggerSignalOutPolarity
设备触发信号输出极性
Definition: ObTypes.h:1024
OBUSBPowerState
USB电源连接状态
Definition: ObTypes.h:1184
OBCameraIntrinsic rightIntrin
Definition: ObTypes.h:470
旋转270度
Definition: ObTypes.h:1216
OBDeviceType
设备类型枚举
Definition: ObTypes.h:668
struct StreamProfileImpl ob_stream_profile
Definition: ObTypes.h:54
float fy
y 方向焦距
Definition: ObTypes.h:390
float x
X 坐标
Definition: ObTypes.h:771
void(* ob_device_upgrade_callback)(ob_upgrade_state state, const char *message, uint8_t percent, void *user_data)
Definition: ObTypes.h:1320
OBGyroFullScaleRange
陀螺仪量程的枚举
Definition: ObTypes.h:577
struct OBProtocolVersion ob_protocol_version
TOF 曝光阈值
Definition: ObTypes.h:796
char message[256]
描述详细的错误日志
Definition: ObTypes.h:145
OrbbecSDK私有接口, 未来对外开放 功能:保存多版本数据结构的数据内容;
Definition: ObTypes.h:1139
OBMediaType
录制回放感兴趣数据类型
Definition: ObTypes.h:682
enum OBUSBPowerState ob_usb_power_state
struct OBDataChunk ob_data_chunk
OBD2CTransform transform
旋转 / 变换矩阵
Definition: ObTypes.h:458
相机深度工作模式
Definition: ObTypes.h:1070
相机参数 Gemini2 OBCmdVersion –> V0, 2022 年 10 月 13 日 09:09:30
Definition: ObTypes.h:453
enum OBGyroSampleRate OB_SAMPLE_RATE
OB_FRAME_AGGREGATE_OUTPUT_MODE
帧汇聚输出模式
Definition: ObTypes.h:1241
float k3
径向畸变系数 3
Definition: ObTypes.h:407
已插入
Definition: ObTypes.h:1201
struct DeviceInfoImpl ob_device_info
Definition: ObTypes.h:49
获取设备的温度参数(单位:摄氏度)
Definition: ObTypes.h:633
uint8_t patch
补丁版本
Definition: ObTypes.h:1086
uint32_t x
原点坐标 x
Definition: ObTypes.h:508
enum OBMediaState OB_MEDIA_STATE_EM
struct CFrameImpl ob_frame
Definition: ObTypes.h:56
软触发从机模式
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
矩形宽度
Definition: ObTypes.h:510
enum OBLogSeverity DEVICE_LOG_SEVERITY_LEVEL
带有颜色信息的 3D 点结构体
Definition: ObTypes.h:770
int16_t height
图像高度
Definition: ObTypes.h:394
以太网
Definition: ObTypes.h:1173
int32_t cur
当前值
Definition: ObTypes.h:344
struct OBDeviceTemperature DEVICE_TEMPERATURE
int32_t def
默认值
Definition: ObTypes.h:348
struct SensorListImpl ob_sensor_list
Definition: ObTypes.h:53
void(* ob_frame_callback)(ob_frame *frame, void *user_data)
数据帧回调
Definition: ObTypes.h:1406
旋转0度
Definition: ObTypes.h:1213
float z
Z 坐标
Definition: ObTypes.h:773
struct OBDERectifyMaskParams OBDERectifyMaskParams_V0
enum OBDeviceType OB_DEVICE_TYPE
float z
z 方向分量
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
深度精度等级
Definition: ObTypes.h:725
enum OBFormat ob_format
struct OBColorPoint ob_color_point
struct OBDeviceSyncConfig OB_DEVICE_SYNC_CONFIG
OBFrameType
描述 Frame 类型枚举值
Definition: ObTypes.h:199
struct OBDeviceIpAddrConfig DEVICE_IP_ADDR_CONFIG
void( ob_frame_destroy_callback)(void *buffer, void *context)
自定义删除回调,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
设备触发信号输出延时,用于控制主机设备向外输 或 从机设备向外中继输出 触发信号的延时配置,单位:微秒 ...
Definition: ObTypes.h:1009
OBTofFilterRange
tof 滤波场景范围
Definition: ObTypes.h:742
enum OBDataTranState ob_data_tran_state
OBStreamType
描述数据流类型的枚举值
Definition: ObTypes.h:178
无效版本
Definition: ObTypes.h:1104
enum OBLogSeverity OBDeviceLogSeverityLevel
enum OB_CMD_VERSION ob_cmd_version
enum OBGyroFullScaleRange ob_gyro_full_scale_range
单机模式
Definition: ObTypes.h:834
uint16_t deviceId
设备编号,用户可用该编号对设备进行标记
Definition: ObTypes.h:1048
int16_t width
图像宽度
Definition: ObTypes.h:393
uint16_t rgbTriggerSignalInDelay
RGB 触发信号输入延时,用于 RGB Sensor 接收到触发信号后到开始曝光的延时配置,单位为微秒 ...
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)
读数据回调
Definition: ObTypes.h:1365
从机模式
Definition: ObTypes.h:868
OBConvertFormat
格式转换类型枚举
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)
写数据的回调
Definition: ObTypes.h:1350
float def
默认值
Definition: ObTypes.h:363
OBCameraIntrinsic leftVirtualIntrin
Definition: ObTypes.h:474
void * data
当前块数据指针
Definition: ObTypes.h:330
uint16_t mcuTriggerFrequency
MCU 触发频率,用于 MCU 主模式下,MCU触发信号输出频率配置,单位:Hz.
Definition: ObTypes.h:1039
void(* ob_frameset_callback)(ob_frame *frameset, void *user_data)
数据帧集合回调
Definition: ObTypes.h:1421
float r
红色通道分量
Definition: ObTypes.h:774
struct OBAccelValue ob_gyro_value
布尔型范围的结构体
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)
文件传输回调
Definition: ObTypes.h:1304
OBCommunicationType
设备通信模式
Definition: ObTypes.h:1171
主机模式
Definition: ObTypes.h:849
uint64_t OBDeviceState
设备状态码
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
设备同步配置
Definition: ObTypes.h:959
同步关闭
Definition: ObTypes.h:821
bool step
步进值
Definition: ObTypes.h:377
ob_rotate_degree_type
旋转角度
Definition: ObTypes.h:1212
void(* ob_media_state_callback)(ob_media_state state, void *user_data)
媒体状态回调(录制和回放)
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
文件传输状态
Definition: ObTypes.h:289
enum OBFileTranState ob_file_tran_state
enum OBDeviceType ob_device_type
float k4
径向畸变系数 4
Definition: ObTypes.h:408
OBCameraIntrinsic rgbIntrinsic
彩色相机内参
Definition: ObTypes.h:455
ob_exception_type exception_type
描述是 SDK 的具体错误类型
Definition: ObTypes.h:149
OBCameraIntrinsic depthIntrinsic
深度相机内参
Definition: ObTypes.h:454
struct OBDepthWorkModeListImpl ob_depth_work_mode_list
Definition: ObTypes.h:62
旋转180度
Definition: ObTypes.h:1215
enum OB_FRAME_AGGREGATE_OUTPUT_MODE OBFrameAggregateOutputMode
struct OBCameraIntrinsic ob_camera_intrinsic
OBD2CTransform transform
旋转 / 变换矩阵
Definition: ObTypes.h:439
enum OBDCPowerState ob_dc_power_state
OBAlignMode
对齐模式
Definition: ObTypes.h:493
enum OBAlignMode ob_align_mode
enum OBStatus ob_status
enum ob_power_line_freq_mode OBPowerLineFreqMode
OBGyroSampleRate
IMU 采样率值的枚举 (陀螺仪或加速度计)
Definition: ObTypes.h:551
SDK 的对外暴露的错误类,用户可以根据该错误类,获取详细的错误信息
Definition: ObTypes.h:142
float y
Y 坐标
Definition: ObTypes.h:772
struct MaskFilterConfig_S ob_mask_filter_config
struct OBCameraParam_V0 ob_camera_param_v0
float k5
径向畸变系数 5
Definition: ObTypes.h:409
float x
x 方向分量
Definition: ObTypes.h:612
相机内参
Definition: ObTypes.h:388
整形范围的结构体
Definition: ObTypes.h:343