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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 {
72 OB_PERMISSION_DENY = 0,
73 OB_PERMISSION_READ = 1,
74 OB_PERMISSION_WRITE = 2,
75 OB_PERMISSION_READ_WRITE = 3,
76 } OBPermissionType,
77 ob_permission_type;
78
86 typedef enum {
87 OB_STATUS_OK = 0,
88 OB_STATUS_ERROR = 1,
89 } OBStatus,
90 ob_status;
91
99 typedef enum {
100 OB_LOG_SEVERITY_DEBUG,
101 OB_LOG_SEVERITY_INFO,
102 OB_LOG_SEVERITY_WARN,
103 OB_LOG_SEVERITY_ERROR,
104 OB_LOG_SEVERITY_FATAL,
105 OB_LOG_SEVERITY_NONE
106 } OBLogSeverity,
107 ob_log_severity, DEVICE_LOG_SEVERITY_LEVEL, OBDeviceLogSeverityLevel, ob_device_log_severity_level;
108
118 typedef enum {
119 OB_EXCEPTION_TYPE_UNKNOWN,
120 OB_EXCEPTION_TYPE_CAMERA_DISCONNECTED,
121 OB_EXCEPTION_TYPE_PLATFORM,
123 OB_EXCEPTION_TYPE_INVALID_VALUE,
125 OB_EXCEPTION_TYPE_WRONG_API_CALL_SEQUENCE,
126 OB_EXCEPTION_TYPE_NOT_IMPLEMENTED,
127 OB_EXCEPTION_TYPE_IO,
128 OB_EXCEPTION_TYPE_MEMORY,
130 OB_EXCEPTION_TYPE_UNSUPPORTED_OPERATION,
132 } OBExceptionType,
133 ob_exception_type;
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 {
160 OB_SENSOR_UNKNOWN = 0,
161 OB_SENSOR_IR = 1,
162 OB_SENSOR_COLOR = 2,
163 OB_SENSOR_DEPTH = 3,
164 OB_SENSOR_ACCEL = 4,
165 OB_SENSOR_GYRO = 5,
166 OB_SENSOR_IR_LEFT = 6,
167 OB_SENSOR_IR_RIGHT = 7,
168 } OBSensorType,
169 ob_sensor_type;
170
178 typedef enum {
179 OB_STREAM_UNKNOWN = -1,
180 OB_STREAM_VIDEO =
181 0,
182 OB_STREAM_IR = 1,
183 OB_STREAM_COLOR = 2,
184 OB_STREAM_DEPTH = 3,
185 OB_STREAM_ACCEL = 4,
186 OB_STREAM_GYRO = 5,
187 OB_STREAM_IR_LEFT = 6,
188 OB_STREAM_IR_RIGHT = 7,
189 } OBStreamType,
190 ob_stream_type;
191
199 typedef enum {
200 OB_FRAME_UNKNOWN = -1,
201 OB_FRAME_VIDEO = 0,
202 OB_FRAME_IR = 1,
203 OB_FRAME_COLOR = 2,
204 OB_FRAME_DEPTH = 3,
205 OB_FRAME_ACCEL = 4,
206 OB_FRAME_SET = 5,
207 OB_FRAME_POINTS = 6,
208 OB_FRAME_GYRO = 7,
209 OB_FRAME_IR_LEFT = 8,
210 OB_FRAME_IR_RIGHT = 9,
211 } OBFrameType,
212 ob_frame_type;
213
221 typedef enum {
222 OB_FORMAT_YUYV = 0,
223 OB_FORMAT_YUY2 = 1,
224 OB_FORMAT_UYVY = 2,
225 OB_FORMAT_NV12 = 3,
226 OB_FORMAT_NV21 = 4,
227 OB_FORMAT_MJPG = 5,
228 OB_FORMAT_H264 = 6,
229 OB_FORMAT_H265 = 7,
230 OB_FORMAT_Y16 = 8,
231 OB_FORMAT_Y8 = 9,
232 OB_FORMAT_Y10 = 10,
234 OB_FORMAT_Y11 = 11,
236 OB_FORMAT_Y12 = 12,
238 OB_FORMAT_GRAY = 13,
239 OB_FORMAT_HEVC = 14,
240 OB_FORMAT_I420 = 15,
241 OB_FORMAT_ACCEL = 16,
242 OB_FORMAT_GYRO = 17,
243 OB_FORMAT_POINT = 19,
244 OB_FORMAT_RGB_POINT = 20,
245 OB_FORMAT_RLE = 21,
246 OB_FORMAT_RGB = 22,
247 OB_FORMAT_BGR = 23,
248 OB_FORMAT_Y14 = 24,
250 OB_FORMAT_BGRA = 25,
251 OB_FORMAT_COMPRESSED = 26,
252 OB_FORMAT_UNKNOWN = 0xff,
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 {
267 STAT_FILE_TRANSFER = 4,
268 STAT_DONE = 3,
269 STAT_IN_PROGRESS = 2,
270 STAT_START = 1,
271 STAT_VERIFY_IMAGE = 0,
272 ERR_VERIFY = -1,
273 ERR_PROGRAM = -2,
274 ERR_ERASE = -3,
275 ERR_FLASH_TYPE = -4,
276 ERR_IMAGE_SIZE = -5,
277 ERR_OTHER = -6,
278 ERR_DDR = -7,
279 ERR_TIMEOUT = -8
280 } OBUpgradeState,
281 ob_upgrade_state;
289 typedef enum {
290 FILE_TRAN_STAT_TRANSFER = 2,
291 FILE_TRAN_STAT_DONE = 1,
292 FILE_TRAN_STAT_PREPAR = 0,
293 FILE_TRAN_ERR_DDR = -1,
294 FILE_TRAN_ERR_NOT_ENOUGH_SPACE = -2,
295 FILE_TRAN_ERR_PATH_NOT_WRITABLE = -3,
296 FILE_TRAN_ERR_MD5_ERROR = -4,
297 FILE_TRAN_ERR_WRITE_FLASH_ERROR = -5,
298 FILE_TRAN_ERR_TIMEOUT = -6
299 } OBFileTranState,
300 ob_file_tran_state;
301
309 typedef enum {
310 DATA_TRAN_STAT_STOPPED = 3,
311 DATA_TRAN_STAT_DONE = 2,
312 DATA_TRAN_STAT_VERIFYING = 1,
313 DATA_TRAN_STAT_TRANSFERRING = 0,
314 DATA_TRAN_ERR_BUSY = -1,
315 DATA_TRAN_ERR_UNSUPPORTED = -2,
316 DATA_TRAN_ERR_TRAN_FAILED = -3,
317 DATA_TRAN_ERR_VERIFY_FAILED = -4,
318 DATA_TRAN_ERR_OTHER = -5
319 } OBDataTranState,
320 ob_data_tran_state;
321
329 typedef struct {
330 void * data;
331 uint32_t size;
332 uint32_t offset;
333 uint32_t fullDataSize;
334 } OBDataChunk, ob_data_chunk;
335
343 typedef struct {
344 int32_t cur;
345 int32_t max;
346 int32_t min;
347 int32_t step;
348 int32_t def;
349 } OBIntPropertyRange, ob_int_property_range;
350
358 typedef struct {
359 float cur;
360 float max;
361 float min;
362 float step;
363 float def;
364 } OBFloatPropertyRange, ob_float_property_range;
365
373 typedef struct {
374 bool cur;
375 bool max;
376 bool min;
377 bool step;
378 bool def;
379 } OBBoolPropertyRange, ob_bool_property_range;
380
388 typedef struct {
389 float fx;
390 float fy;
391 float cx;
392 float cy;
393 int16_t width;
394 int16_t height;
395 } OBCameraIntrinsic, ob_camera_intrinsic;
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;
413 } OBCameraDistortion, ob_camera_distortion;
414
422 typedef struct {
423 float rot[9];
424 float trans[3];
425 } OBD2CTransform, ob_d2c_transform;
426
434 typedef struct {
435 OBCameraIntrinsic depthIntrinsic;
436 OBCameraIntrinsic rgbIntrinsic;
437 OBCameraDistortion depthDistortion;
438 OBCameraDistortion rgbDistortion;
439 OBD2CTransform transform;
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;
443 } OBCameraParam, ob_camera_param;
444
453 typedef struct {
454 OBCameraIntrinsic depthIntrinsic;
455 OBCameraIntrinsic rgbIntrinsic;
456 OBCameraDistortion depthDistortion;
457 OBCameraDistortion rgbDistortion;
458 OBD2CTransform transform;
459 } OBCameraParam_V0, ob_camera_param_v0;
460
465 typedef struct {
466 OBCameraIntrinsic leftIntrin; // target ：单目结构光以及双目左 L
467 OBCameraDistortion leftDisto;
468 float leftRot[9];
469
470 OBCameraIntrinsic rightIntrin; // ref
471 OBCameraDistortion rightDisto;
472 float rightRot[9];
473
474 OBCameraIntrinsic leftVirtualIntrin; // output intrinsics from rectification (and rotation)
475 OBCameraIntrinsic rightVirtualIntrin;
476 } OBDERectifyMaskParams, OBDERectifyMaskParams_V0;
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
483 bool enable_undisto;
484 } ob_mask_filter_config, OBMaskFilterConfig;
485
493 typedef enum {
494 ALIGN_DISABLE,
495 ALIGN_D2C_HW_MODE,
496 ALIGN_D2C_SW_MODE,
497 } OBAlignMode,
498 ob_align_mode;
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 {
522 FORMAT_YUYV_TO_RGB888 = 0,
523 FORMAT_I420_TO_RGB888,
524 FORMAT_NV21_TO_RGB888,
525 FORMAT_NV12_TO_RGB888,
526 FORMAT_MJPG_TO_I420,
527 FORMAT_RGB888_TO_BGR,
528 FORMAT_MJPG_TO_NV21,
529 FORMAT_MJPG_TO_RGB888,
530 FORMAT_MJPG_TO_BGR888,
531 FORMAT_MJPG_TO_BGRA,
532 FORMAT_UYVY_TO_RGB888,
533 FORMAT_BGR_TO_RGB,
534 } OBConvertFormat,
535 ob_convert_format;
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 {
552 OB_SAMPLE_RATE_1_5625_HZ = 1,
553 OB_SAMPLE_RATE_3_125_HZ,
554 OB_SAMPLE_RATE_6_25_HZ,
555 OB_SAMPLE_RATE_12_5_HZ,
556 OB_SAMPLE_RATE_25_HZ,
557 OB_SAMPLE_RATE_50_HZ,
558 OB_SAMPLE_RATE_100_HZ,
559 OB_SAMPLE_RATE_200_HZ,
560 OB_SAMPLE_RATE_500_HZ,
561 OB_SAMPLE_RATE_1_KHZ,
562 OB_SAMPLE_RATE_2_KHZ,
563 OB_SAMPLE_RATE_4_KHZ,
564 OB_SAMPLE_RATE_8_KHZ,
565 OB_SAMPLE_RATE_16_KHZ,
566 OB_SAMPLE_RATE_32_KHZ,
567 } OBGyroSampleRate,
568 ob_gyro_sample_rate, OBAccelSampleRate, ob_accel_sample_rate, OB_SAMPLE_RATE;
569
577 typedef enum {
578 OB_GYRO_FS_16dps = 1,
579 OB_GYRO_FS_31dps,
580 OB_GYRO_FS_62dps,
581 OB_GYRO_FS_125dps,
582 OB_GYRO_FS_250dps,
583 OB_GYRO_FS_500dps,
584 OB_GYRO_FS_1000dps,
585 OB_GYRO_FS_2000dps,
586 } OBGyroFullScaleRange,
587 ob_gyro_full_scale_range, OB_GYRO_FULL_SCALE_RANGE;
588
596 typedef enum {
597 OB_ACCEL_FS_2g = 1,
598 OB_ACCEL_FS_4g,
599 OB_ACCEL_FS_8g,
600 OB_ACCEL_FS_16g,
601 } OBAccelFullScaleRange,
602 ob_accel_full_scale_range, OB_ACCEL_FULL_SCALE_RANGE;
603
611 typedef struct {
612 float x;
613 float y;
614 float z;
615 } OBAccelValue, OBGyroValue, ob_accel_value, ob_gyro_value;
616
624 typedef uint64_t OBDeviceState, ob_device_state;
625
633 typedef struct {
634 float cpuTemp;
635 float irTemp;
636 float ldmTemp;
637 float mainBoardTemp;
638 float tecTemp;
639 float imuTemp;
640 float rgbTemp;
641 float irLeftTemp;
642 float irRightTemp;
643 float chipTopTemp;
644 float chipBottomTemp;
645 } OBDeviceTemperature, ob_device_temperature, DEVICE_TEMPERATURE;
646
654 typedef enum {
655 DEPTH_CROPPING_MODE_AUTO = 0,
656 DEPTH_CROPPING_MODE_CLOSE = 1,
657 DEPTH_CROPPING_MODE_OPEN = 2,
658 } OBDepthCroppingMode,
659 ob_depth_cropping_mode, OB_DEPTH_CROPPING_MODE;
660
668 typedef enum {
669 OB_STRUCTURED_LIGHT_MONOCULAR_CAMERA = 0,
670 OB_STRUCTURED_LIGHT_BINOCULAR_CAMERA = 1,
671 OB_TOF_CAMERA = 2,
672 } OBDeviceType,
673 ob_device_type, OB_DEVICE_TYPE;
674
682 typedef enum {
683 OB_MEDIA_COLOR_STREAM = 1,
684 OB_MEDIA_DEPTH_STREAM = 2,
685 OB_MEDIA_IR_STREAM = 4,
686 OB_MEDIA_GYRO_STREAM = 8,
687 OB_MEDIA_ACCEL_STREAM = 16,
688 OB_MEDIA_CAMERA_PARAM = 32,
689 OB_MEDIA_DEVICE_INFO = 64,
690 OB_MEDIA_STREAM_INFO = 128,
691 OB_MEDIA_IR_LEFT_STREAM = 256,
692 OB_MEDIA_IR_RIGHT_STREAM = 512,
694 OB_MEDIA_ALL = OB_MEDIA_COLOR_STREAM | OB_MEDIA_DEPTH_STREAM | OB_MEDIA_IR_STREAM | OB_MEDIA_GYRO_STREAM | OB_MEDIA_ACCEL_STREAM | OB_MEDIA_CAMERA_PARAM
695 | OB_MEDIA_DEVICE_INFO | OB_MEDIA_STREAM_INFO | OB_MEDIA_IR_LEFT_STREAM
696 | OB_MEDIA_IR_RIGHT_STREAM,
697 } OBMediaType,
698 ob_media_type, OB_MEDIA_TYPE;
699
707 typedef enum {
708 OB_MEDIA_BEGIN = 0,
709 OB_MEDIA_PAUSE,
710 OB_MEDIA_RESUME,
711 OB_MEDIA_END,
712 } OBMediaState,
713 ob_media_state, OB_MEDIA_STATE_EM;
714
725 typedef enum {
726 OB_PRECISION_1MM,
727 OB_PRECISION_0MM8,
728 OB_PRECISION_0MM4,
729 OB_PRECISION_0MM1,
730 OB_PRECISION_0MM2,
731 OB_PRECISION_COUNT,
732 } OBDepthPrecisionLevel,
733 ob_depth_precision_level, OB_DEPTH_PRECISION_LEVEL;
734
742 typedef enum {
743 OB_TOF_FILTER_RANGE_CLOSE = 0,
744 OB_TOF_FILTER_RANGE_MIDDLE = 1,
745 OB_TOF_FILTER_RANGE_LONG = 2,
746 OB_TOF_FILTER_RANGE_DEBUG = 100,
747 } OBTofFilterRange,
748 ob_tof_filter_range, TOF_FILTER_RANGE;
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;
777 } OBColorPoint, ob_color_point;
778
779 typedef enum {
780 OB_COMPRESSION_LOSSLESS = 0,
781 OB_COMPRESSION_LOSSY = 1,
782 } OBCompressionMode,
783 ob_compression_mode, OB_COMPRESSION_MODE;
784
785 typedef struct {
786 int threshold;
787 } OBCompressionParams, ob_compression_params, OB_COMPRESSION_PARAMS;
788
796 typedef struct {
797 int32_t upper;
798 int32_t lower;
799 } OBTofExposureThresholdControl, ob_tof_exposure_threshold_control, TOF_EXPOSURE_THRESHOLD_CONTROL;
800
808 typedef enum {
821 OB_SYNC_MODE_CLOSE = 0x00,
822
834 OB_SYNC_MODE_STANDALONE = 0x01,
835
849 OB_SYNC_MODE_PRIMARY = 0x02,
850
868 OB_SYNC_MODE_SECONDARY = 0x03,
869
881 OB_SYNC_MODE_PRIMARY_MCU_TRIGGER = 0x04,
882
895 OB_SYNC_MODE_PRIMARY_IR_TRIGGER = 0x05,
896
912 OB_SYNC_MODE_PRIMARY_SOFT_TRIGGER = 0x06,
913
928 OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER = 0x07,
929
937 OB_SYNC_MODE_UNKNOWN = 0xff,
938
939 } OBSyncMode,
940 ob_sync_mode, OB_SYNC_MODE;
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 {
967 OBSyncMode syncMode;
968
981 uint16_t irTriggerSignalInDelay;
982
995 uint16_t rgbTriggerSignalInDelay;
996
1009 uint16_t deviceTriggerSignalOutDelay;
1010
1024 uint16_t deviceTriggerSignalOutPolarity;
1025
1039 uint16_t mcuTriggerFrequency;
1040
1048 uint16_t deviceId;
1049 } OBDeviceSyncConfig, ob_device_sync_config, OB_DEVICE_SYNC_CONFIG;
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];
1073 } OBDepthWorkMode, ob_depth_work_mode;
1074
1083 typedef struct {
1084 uint8_t major;
1085 uint8_t minor;
1086 uint8_t patch;
1087 } OBProtocolVersion, ob_protocol_version;
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,
1106 OBCmdVersion, 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;
1150 } OBDataBundle, ob_data_bundle;
1152
1157 typedef struct {
1158 uint16_t dhcp;
1159 uint8_t address[4];
1160 uint8_t mask[4];
1161 uint8_t gateway[4];
1162 } OBDeviceIpAddrConfig, ob_device_ip_addr_config, DEVICE_IP_ADDR_CONFIG;
1163
1171 typedef enum {
1172 OB_COMM_USB = 0x00,
1173 OB_COMM_NET = 0x01,
1174 } OBCommunicationType,
1175 ob_communication_type, OB_COMMUNICATION_TYPE;
1176
1184 typedef enum {
1185 OB_USB_POWER_NO_PLUGIN = 0,
1186 OB_USB_POWER_5V_0A9 = 1,
1187 OB_USB_POWER_5V_1A5 = 2,
1188 OB_USB_POWER_5V_3A0 = 3,
1189 } OBUSBPowerState,
1190 ob_usb_power_state;
1191
1199 typedef enum {
1200 OB_DC_POWER_NO_PLUGIN = 0,
1201 OB_DC_POWER_PLUGIN = 1,
1202 } OBDCPowerState,
1203 ob_dc_power_state;
1204
1212 typedef enum {
1213 OB_ROTATE_DEGREE_0 = 0,
1214 OB_ROTATE_DEGREE_90 = 90,
1215 OB_ROTATE_DEGREE_180 = 180,
1216 OB_ROTATE_DEGREE_270 = 270,
1217 } ob_rotate_degree_type,
1218 OBRotateDegreeType;
1219
1227 typedef enum {
1228 OB_POWER_LINE_FREQ_MODE_CLOSE = 0,
1229 OB_POWER_LINE_FREQ_MODE_50HZ = 1,
1230 OB_POWER_LINE_FREQ_MODE_60HZ = 2,
1231 } ob_power_line_freq_mode,
1232 OBPowerLineFreqMode;
1233
1241 typedef enum {
1249 OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE = 0,
1250
1268 OB_FRAME_AGGREGATE_OUTPUT_COLOR_FRAME_REQUIRE,
1269
1285 OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION,
1286 } OB_FRAME_AGGREGATE_OUTPUT_MODE,
1287 OBFrameAggregateOutputMode, ob_frame_aggregate_output_mode;
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)
OB_MEDIA_IR_STREAM
Definition: ObTypes.h:685
OB_COMM_USB
USB.
Definition: ObTypes.h:1172
OBRect::y
uint32_t y
origin coordinate y
Definition: ObTypes.h:509
OB_FORMAT_UYVY
Definition: ObTypes.h:224
OBCameraParam_V0::rgbDistortion
OBCameraDistortion rgbDistortion
Color camera distortion parameters 1.
Definition: ObTypes.h:457
FORMAT_YUYV_TO_RGB888
Definition: ObTypes.h:522
OB_FORMAT_BGRA
Definition: ObTypes.h:250
OB_FRAME_IR_RIGHT
Definition: ObTypes.h:210
MaskFilterConfig_S::margin_th_u
int margin_th_u
Definition: ObTypes.h:480
OBPoint::z
float z
z coordinate
Definition: ObTypes.h:760
OB_FORMAT_GYRO
Definition: ObTypes.h:242
OB_DEPTH_CROPPING_MODE
enum OBDepthCroppingMode OB_DEPTH_CROPPING_MODE
ob_accel_sample_rate
enum OBGyroSampleRate ob_accel_sample_rate
OBCameraIntrinsic::cx
float cx
Optical center abscissa.
Definition: ObTypes.h:391
OB_LOG_SEVERITY_WARN
Definition: ObTypes.h:102
OB_LOG_SEVERITY_DEBUG
Definition: ObTypes.h:100
OB_SENSOR_ACCEL
Definition: ObTypes.h:164
OBStatus
OBStatus
error code
Definition: ObTypes.h:86
ob_gyro_sample_rate
enum OBGyroSampleRate ob_gyro_sample_rate
OBBoolPropertyRange::cur
bool cur
current value
Definition: ObTypes.h:374
OB_MEDIA_RESUME
Definition: ObTypes.h:710
OB_FORMAT_MJPG
Definition: ObTypes.h:227
ALIGN_DISABLE
Definition: ObTypes.h:494
OB_SENSOR_IR_RIGHT
Definition: ObTypes.h:167
OBMaskFilterConfig
struct MaskFilterConfig_S OBMaskFilterConfig
ob_stream_profile_list
struct StreamProfileListImpl ob_stream_profile_list
Definition: ObTypes.h:55
OBDERectifyMaskParams::leftIntrin
OBCameraIntrinsic leftIntrin
Definition: ObTypes.h:466
ob_power_line_freq_mode
ob_power_line_freq_mode
Power line frequency mode，for Color camera anti-flicker configuration.
Definition: ObTypes.h:1227
ob_depth_cropping_mode
enum OBDepthCroppingMode ob_depth_cropping_mode
OBGyroValue
struct OBAccelValue OBGyroValue
OB_FORMAT_POINT
Definition: ObTypes.h:243
ob_device_log_severity_level
enum OBLogSeverity ob_device_log_severity_level
FORMAT_MJPG_TO_BGRA
Definition: ObTypes.h:531
ob_tof_filter_range
enum OBTofFilterRange ob_tof_filter_range
OB_ACCEL_FS_2g
Definition: ObTypes.h:597
OB_MEDIA_TYPE
enum OBMediaType OB_MEDIA_TYPE
ob_sensor
struct SensorImpl ob_sensor
Definition: ObTypes.h:52
ob_config
struct ConfigImpl ob_config
Definition: ObTypes.h:59
OB_CMD_VERSION_V2
version 3.0
Definition: ObTypes.h:1100
OB_LOG_SEVERITY_FATAL
Definition: ObTypes.h:104
OB_USB_POWER_5V_3A0
5V/3.0A
Definition: ObTypes.h:1188
OB_EXCEPTION_TYPE_INVALID_VALUE
Definition: ObTypes.h:123
OB_LOG_SEVERITY_NONE
Definition: ObTypes.h:105
OB_EXCEPTION_TYPE_UNKNOWN
Definition: ObTypes.h:119
OBDeviceIpAddrConfig
网络设备的 IP 地址配置（ipv4）
Definition: ObTypes.h:1157
OBCameraParam::isMirrored
bool isMirrored
Whether the image frame corresponding to this group of parameters is mirrored.
Definition: ObTypes.h:442
OB_CMD_VERSION_V3
version 4.0
Definition: ObTypes.h:1101
OBTofExposureThresholdControl::lower
int32_t lower
Lower threshold, unit: ms.
Definition: ObTypes.h:798
OBDeviceTemperature::imuTemp
float imuTemp
IMU temperature.
Definition: ObTypes.h:639
OBRect::height
uint32_t height
rectangle height
Definition: ObTypes.h:511
MaskFilterConfig_S::scale
float scale
Definition: ObTypes.h:479
OB_DC_POWER_NO_PLUGIN
no plugin
Definition: ObTypes.h:1200
OB_COMMUNICATION_TYPE
enum OBCommunicationType OB_COMMUNICATION_TYPE
OBDataBundle::cmdVersion
OBCmdVersion cmdVersion
propertyId&#39;s OBCmdVersion
Definition: ObTypes.h:1140
OBCameraParam::rgbIntrinsic
OBCameraIntrinsic rgbIntrinsic
Color camera internal parameters.
Definition: ObTypes.h:436
OBFloatPropertyRange::step
float step
step value
Definition: ObTypes.h:362
ob_frame_aggregate_output_mode
enum OB_FRAME_AGGREGATE_OUTPUT_MODE ob_frame_aggregate_output_mode
OBBoolPropertyRange::max
bool max
maximum value
Definition: ObTypes.h:375
OB_ROTATE_DEGREE_90
Rotate 90.
Definition: ObTypes.h:1214
OB_SYNC_MODE_UNKNOWN
Unknown type.
Definition: ObTypes.h:937
DATA_TRAN_ERR_BUSY
Definition: ObTypes.h:314
FORMAT_I420_TO_RGB888
Definition: ObTypes.h:523
ERR_ERASE
Definition: ObTypes.h:274
OBDepthCroppingMode
OBDepthCroppingMode
Depth crop mode enumeration.
Definition: ObTypes.h:654
OBDERectifyMaskParams::leftDisto
OBCameraDistortion leftDisto
Definition: ObTypes.h:467
ob_convert_format
enum OBConvertFormat ob_convert_format
OB_MEDIA_ACCEL_STREAM
Definition: ObTypes.h:687
ob_tof_exposure_threshold_control
struct OBTofExposureThresholdControl ob_tof_exposure_threshold_control
OBFormat
OBFormat
Enumeration value describing the pixel format.
Definition: ObTypes.h:221
OBDeviceTemperature::rgbTemp
float rgbTemp
RGB temperature.
Definition: ObTypes.h:640
OB_MEDIA_IR_LEFT_STREAM
Definition: ObTypes.h:691
OBAccelSampleRate
enum OBGyroSampleRate OBAccelSampleRate
OB_EXCEPTION_TYPE_PLATFORM
Definition: ObTypes.h:121
OB_GYRO_FS_62dps
Definition: ObTypes.h:580
ob_upgrade_state
enum OBUpgradeState ob_upgrade_state
OB_TOF_FILTER_RANGE_LONG
Definition: ObTypes.h:745
OBSyncMode
OBSyncMode
Sync mode.
Definition: ObTypes.h:808
OB_MEDIA_GYRO_STREAM
Definition: ObTypes.h:686
OB_FORMAT_COMPRESSED
Definition: ObTypes.h:251
OB_SYNC_MODE_PRIMARY_MCU_TRIGGER
MCU Primary synchronize mode.
Definition: ObTypes.h:881
OBCompressionParams::threshold
int threshold
Definition: ObTypes.h:786
OBFloatPropertyRange
Float range structure.
Definition: ObTypes.h:358
OB_MEDIA_PAUSE
Definition: ObTypes.h:709
ob_playback
struct PlaybackImpl ob_playback
Definition: ObTypes.h:61
OBPoint::x
float x
x coordinate
Definition: ObTypes.h:758
OB_FRAME_GYRO
Definition: ObTypes.h:208
OBProtocolVersion::major
uint8_t major
Major version number.
Definition: ObTypes.h:1084
OB_CMD_VERSION
OB_CMD_VERSION
Definition: ObTypes.h:1097
OB_STRUCTURED_LIGHT_BINOCULAR_CAMERA
Definition: ObTypes.h:670
OBDeviceTemperature::irLeftTemp
float irLeftTemp
if English Left IR temperature左IR温度
Definition: ObTypes.h:641
OBDeviceTemperature::chipBottomTemp
float chipBottomTemp
if English MX6600 bottom temperatureMX6600 bottom 温度
Definition: ObTypes.h:644
OBColorPoint::b
float b
blue channel component
Definition: ObTypes.h:776
ob_accel_full_scale_range
enum OBAccelFullScaleRange ob_accel_full_scale_range
OBPoint
3D point structure in SDK
Definition: ObTypes.h:757
OB_GYRO_FS_125dps
Definition: ObTypes.h:581
OBIntPropertyRange::step
int32_t step
step value
Definition: ObTypes.h:347
ob_stream_type
enum OBStreamType ob_stream_type
OB_FRAME_UNKNOWN
Definition: ObTypes.h:200
ERR_TIMEOUT
Definition: ObTypes.h:279
ob_bool_property_range
struct OBBoolPropertyRange ob_bool_property_range
ob_compression_mode
enum OBCompressionMode ob_compression_mode
OB_FORMAT_RGB
Definition: ObTypes.h:246
ERR_VERIFY
Definition: ObTypes.h:272
OB_STREAM_IR_RIGHT
Definition: ObTypes.h:188
FORMAT_NV21_TO_RGB888
Definition: ObTypes.h:524
ob_communication_type
enum OBCommunicationType ob_communication_type
OB_PERMISSION_READ
Definition: ObTypes.h:73
ERR_DDR
Definition: ObTypes.h:278
TOF_EXPOSURE_THRESHOLD_CONTROL
struct OBTofExposureThresholdControl TOF_EXPOSURE_THRESHOLD_CONTROL
OBDataBundle::data
void * data
Definition: ObTypes.h:1142
OB_TOF_FILTER_RANGE_DEBUG
Definition: ObTypes.h:746
OBFloatPropertyRange::cur
float cur
current value
Definition: ObTypes.h:359
ob_media_type
enum OBMediaType ob_media_type
OBDeviceTemperature::ldmTemp
float ldmTemp
laser temperature
Definition: ObTypes.h:636
OB_USB_POWER_5V_1A5
5V/1.5A
Definition: ObTypes.h:1187
OB_FORMAT_Y12
Definition: ObTypes.h:236
OBAccelValue::y
float y
y-direction component
Definition: ObTypes.h:613
ob_sensor_type
enum OBSensorType ob_sensor_type
OB_SAMPLE_RATE_500_HZ
Definition: ObTypes.h:560
FILE_TRAN_ERR_NOT_ENOUGH_SPACE
Definition: ObTypes.h:294
OB_SAMPLE_RATE_200_HZ
Definition: ObTypes.h:559
OBDeviceTemperature::irTemp
float irTemp
IR temperature.
Definition: ObTypes.h:635
OBCameraParam::rgbDistortion
OBCameraDistortion rgbDistortion
Color camera distortion parameters 1.
Definition: ObTypes.h:438
OBProtocolVersion
Command version of device property.
Definition: ObTypes.h:1083
OBBoolPropertyRange::min
bool min
minimum value
Definition: ObTypes.h:376
MaskFilterConfig_S::enable_undisto
bool enable_undisto
Definition: ObTypes.h:483
FORMAT_UYVY_TO_RGB888
Definition: ObTypes.h:532
OBDeviceTemperature::cpuTemp
float cpuTemp
CPU temperature.
Definition: ObTypes.h:634
OBCameraParam_V0::depthDistortion
OBCameraDistortion depthDistortion
Depth camera distortion parameters.
Definition: ObTypes.h:456
OBCameraDistortion::p2
float p2
Tangential distortion factor 2.
Definition: ObTypes.h:412
OBDCPowerState
OBDCPowerState
DC power status.
Definition: ObTypes.h:1199
OBColorPoint::g
float g
green channel component
Definition: ObTypes.h:775
ERR_IMAGE_SIZE
Definition: ObTypes.h:276
OB_PERMISSION_DENY
Definition: ObTypes.h:72
OBCameraParam::depthIntrinsic
OBCameraIntrinsic depthIntrinsic
Depth camera internal parameters.
Definition: ObTypes.h:435
STAT_START
Definition: ObTypes.h:270
OB_STREAM_DEPTH
Definition: ObTypes.h:184
OBDataChunk::offset
uint32_t offset
The offset of the current data block relative to the complete data.
Definition: ObTypes.h:332
OB_EXCEPTION_TYPE_NOT_IMPLEMENTED
Definition: ObTypes.h:126
OBProtocolVersion::minor
uint8_t minor
Minor version number.
Definition: ObTypes.h:1085
OBDERectifyMaskParams::rightVirtualIntrin
OBCameraIntrinsic rightVirtualIntrin
Definition: ObTypes.h:475
OB_GYRO_FS_2000dps
Definition: ObTypes.h:585
OB_POWER_LINE_FREQ_MODE_CLOSE
close
Definition: ObTypes.h:1228
OBDERectifyMaskParams::rightDisto
OBCameraDistortion rightDisto
Definition: ObTypes.h:471
OBCameraParam::depthDistortion
OBCameraDistortion depthDistortion
Depth camera distortion parameters.
Definition: ObTypes.h:437
OBCameraIntrinsic::cy
float cy
Optical center ordinate.
Definition: ObTypes.h:392
OB_GYRO_FS_16dps
Definition: ObTypes.h:578
FORMAT_MJPG_TO_I420
Definition: ObTypes.h:526
OB_PRECISION_0MM1
Definition: ObTypes.h:729
OB_FRAME_COLOR
Definition: ObTypes.h:203
OB_EXCEPTION_TYPE_CAMERA_DISCONNECTED
Definition: ObTypes.h:120
OB_ACCEL_FULL_SCALE_RANGE
enum OBAccelFullScaleRange OB_ACCEL_FULL_SCALE_RANGE
OB_MEDIA_END
Definition: ObTypes.h:711
OBAccelValue
Data structures for accelerometers and gyroscopes.
Definition: ObTypes.h:611
OB_SYNC_MODE_PRIMARY_IR_TRIGGER
IR Primary synchronize mode.
Definition: ObTypes.h:895
OB_STREAM_VIDEO
Definition: ObTypes.h:180
OB_FORMAT_NV21
Definition: ObTypes.h:226
OB_EXCEPTION_TYPE_MEMORY
Definition: ObTypes.h:128
ob_device_temperature
struct OBDeviceTemperature ob_device_temperature
OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION
FrameSet for any case will be output.
Definition: ObTypes.h:1285
ob_frame_type
enum OBFrameType ob_frame_type
OB_COMPRESSION_PARAMS
struct OBCompressionParams OB_COMPRESSION_PARAMS
OBAccelFullScaleRange
OBAccelFullScaleRange
Accelerometer range enumeration.
Definition: ObTypes.h:596
OBCameraDistortion::k2
float k2
Radial distortion factor 2.
Definition: ObTypes.h:406
ob_device_list
struct DeviceListImpl ob_device_list
Definition: ObTypes.h:50
OBDERectifyMaskParams
深度对齐校验参数
Definition: ObTypes.h:465
OB_EXCEPTION_TYPE_UNSUPPORTED_OPERATION
Definition: ObTypes.h:130
OBCameraDistortion::k6
float k6
Radial distortion factor 6.
Definition: ObTypes.h:410
STAT_VERIFY_IMAGE
Definition: ObTypes.h:271
OBDataChunk
Data block structure for data block transmission.
Definition: ObTypes.h:329
OBDeviceTemperature::mainBoardTemp
float mainBoardTemp
motherboard temperature
Definition: ObTypes.h:637
OBIntPropertyRange::min
int32_t min
minimum value
Definition: ObTypes.h:346
OBBoolPropertyRange::def
bool def
default
Definition: ObTypes.h:378
ob_exception_type
enum OBExceptionType ob_exception_type
OBDeviceTemperature::tecTemp
float tecTemp
TEC temperature.
Definition: ObTypes.h:638
ob_accel_value
struct OBAccelValue ob_accel_value
OBDataTranState
OBDataTranState
data transfer status
Definition: ObTypes.h:309
OB_SYNC_MODE_PRIMARY_SOFT_TRIGGER
Software trigger synchronize mode.
Definition: ObTypes.h:912
ob_data_bundle
struct OBDataBundle ob_data_bundle
OBDeviceSyncConfig::irTriggerSignalInDelay
uint16_t irTriggerSignalInDelay
IR Trigger signal input delay: Used to configure the delay between the IR/Depth/TOF Sensor receiving ...
Definition: ObTypes.h:981
OB_SENSOR_GYRO
Definition: ObTypes.h:165
OB_PRECISION_0MM8
Definition: ObTypes.h:727
ob_recorder
struct RecorderImpl ob_recorder
Definition: ObTypes.h:60
OB_FORMAT_BGR
Definition: ObTypes.h:247
OBRotateDegreeType
enum ob_rotate_degree_type OBRotateDegreeType
OB_MEDIA_DEVICE_INFO
Definition: ObTypes.h:689
OBIntPropertyRange::max
int32_t max
maximum value
Definition: ObTypes.h:345
OBCompressionMode
OBCompressionMode
Definition: ObTypes.h:779
OBLogSeverity
OBLogSeverity
log level, the higher the level, the stronger the log filter
Definition: ObTypes.h:99
OBUpgradeState
OBUpgradeState
Firmware upgrade status.
Definition: ObTypes.h:266
OB_SAMPLE_RATE_50_HZ
Definition: ObTypes.h:557
OBFloatPropertyRange::max
float max
maximum value
Definition: ObTypes.h:360
ob_int_property_range
struct OBIntPropertyRange ob_int_property_range
OB_FRAME_IR_LEFT
Definition: ObTypes.h:209
OB_CMD_VERSION_V1
version 2.0
Definition: ObTypes.h:1099
OBExceptionType
OBExceptionType
The exception types in the SDK, through the exception type, you can easily determine the specific typ...
Definition: ObTypes.h:118
ERR_FLASH_TYPE
Definition: ObTypes.h:275
OB_MEDIA_IR_RIGHT_STREAM
Definition: ObTypes.h:692
OB_FORMAT_RGB_POINT
Definition: ObTypes.h:244
OBCameraIntrinsic::fx
float fx
focal length in x direction
Definition: ObTypes.h:389
OBCameraDistortion::p1
float p1
Tangential distortion factor 1.
Definition: ObTypes.h:411
ob_error
struct ob_error ob_error
The error class exposed by the SDK, users can get detailed error information according to the erro...
ob_device
struct DeviceImpl ob_device
Definition: ObTypes.h:48
OBMediaState
OBMediaState
Record playback status.
Definition: ObTypes.h:707
ob_compression_params
struct OBCompressionParams ob_compression_params
OB_FORMAT_YUYV
Definition: ObTypes.h:222
OBD2CTransform
Rotation/Transformation.
Definition: ObTypes.h:422
OB_EXCEPTION_TYPE_WRONG_API_CALL_SEQUENCE
Definition: ObTypes.h:125
OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE
Only FrameSet that contains all types of data frames will be output.
Definition: ObTypes.h:1249
OBCameraDistortion::k1
float k1
Radial distortion factor 1.
Definition: ObTypes.h:405
OB_SENSOR_IR_LEFT
Definition: ObTypes.h:166
OBDataChunk::size
uint32_t size
Current block data length.
Definition: ObTypes.h:331
ob_device_changed_callback
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
OB_FORMAT_NV12
Definition: ObTypes.h:225
DATA_TRAN_STAT_STOPPED
Definition: ObTypes.h:310
OBDeviceSyncConfig::syncMode
OBSyncMode syncMode
Definition: ObTypes.h:967
OBCmdVersion
enum OB_CMD_VERSION OBCmdVersion
DEPTH_CROPPING_MODE_CLOSE
Definition: ObTypes.h:656
OB_CMD_VERSION_V0
version 1.0
Definition: ObTypes.h:1098
OBPoint::y
float y
y coordinate
Definition: ObTypes.h:759
OB_ACCEL_FS_4g
Definition: ObTypes.h:598
OB_SAMPLE_RATE_3_125_HZ
Definition: ObTypes.h:553
OBCameraDistortion
Distortion Parameters.
Definition: ObTypes.h:404
ob_camera_param
struct OBCameraParam ob_camera_param
OBPermissionType
OBPermissionType
the permission type of api or property
Definition: ObTypes.h:71
ob_device_ip_addr_config
struct OBDeviceIpAddrConfig ob_device_ip_addr_config
ob_error::args
char args[256]
Definition: ObTypes.h:147
STAT_FILE_TRANSFER
Definition: ObTypes.h:267
OBDataBundle
struct OBDataBundle OBDataBundle
ob_d2c_transform
struct OBD2CTransform ob_d2c_transform
OB_MEDIA_CAMERA_PARAM
Definition: ObTypes.h:688
OB_ACCEL_FS_16g
Definition: ObTypes.h:600
OB_SAMPLE_RATE_32_KHZ
Definition: ObTypes.h:566
TOF_FILTER_RANGE
enum OBTofFilterRange TOF_FILTER_RANGE
OB_FORMAT_UNKNOWN
Definition: ObTypes.h:252
OB_FORMAT_I420
Definition: ObTypes.h:240
ERR_PROGRAM
Definition: ObTypes.h:273
ob_float_property_range
struct OBFloatPropertyRange ob_float_property_range
OB_MEDIA_DEPTH_STREAM
Definition: ObTypes.h:684
OBSensorType
OBSensorType
Enumeration value describing the sensor type.
Definition: ObTypes.h:159
OB_GYRO_FS_250dps
Definition: ObTypes.h:582
OB_FRAME_AGGREGATE_OUTPUT_COLOR_FRAME_REQUIRE
Frame aggregate output mode.
Definition: ObTypes.h:1268
OBDataChunk::fullDataSize
uint32_t fullDataSize
full data size
Definition: ObTypes.h:333
ob_depth_work_mode
struct OBDepthWorkMode ob_depth_work_mode
OB_CMD_VERSION_NOVERSION
Definition: ObTypes.h:1103
OBTofExposureThresholdControl::upper
int32_t upper
Upper threshold, unit: ms.
Definition: ObTypes.h:797
ob_context
struct ContextImpl ob_context
Definition: ObTypes.h:47
OB_FORMAT_Y16
Definition: ObTypes.h:230
OB_MEDIA_COLOR_STREAM
Definition: ObTypes.h:683
DATA_TRAN_ERR_VERIFY_FAILED
Definition: ObTypes.h:317
ob_rect
struct OBRect ob_rect
OB_FORMAT_ACCEL
Definition: ObTypes.h:241
OBCameraParam
Camera parameters.
Definition: ObTypes.h:434
FILE_TRAN_ERR_TIMEOUT
Definition: ObTypes.h:298
ob_media_state
enum OBMediaState ob_media_state
OB_FORMAT_Y11
Definition: ObTypes.h:234
OBFloatPropertyRange::min
float min
minimum value
Definition: ObTypes.h:361
ob_device_state_callback
void(* ob_device_state_callback)(ob_device_state state, const char *message, void *user_data)
device status callback
Definition: ObTypes.h:1335
ob_device_state
uint64_t ob_device_state
Definition: ObTypes.h:624
OB_SAMPLE_RATE_2_KHZ
Definition: ObTypes.h:562
OB_FORMAT_H264
Definition: ObTypes.h:228
OB_FORMAT_Y10
Definition: ObTypes.h:232
OBRect
rectangle
Definition: ObTypes.h:507
OB_SENSOR_UNKNOWN
Definition: ObTypes.h:160
OBDeviceSyncConfig::deviceTriggerSignalOutPolarity
uint16_t deviceTriggerSignalOutPolarity
The device trigger signal output polarity.
Definition: ObTypes.h:1024
OB_SAMPLE_RATE_12_5_HZ
Definition: ObTypes.h:555
OBUSBPowerState
OBUSBPowerState
USB power status.
Definition: ObTypes.h:1184
OB_SAMPLE_RATE_1_5625_HZ
Definition: ObTypes.h:552
OBDERectifyMaskParams::rightIntrin
OBCameraIntrinsic rightIntrin
Definition: ObTypes.h:470
OB_ROTATE_DEGREE_270
Rotate 270.
Definition: ObTypes.h:1216
OBDeviceType
OBDeviceType
device type enumeration
Definition: ObTypes.h:668
ob_stream_profile
struct StreamProfileImpl ob_stream_profile
Definition: ObTypes.h:54
OB_MEDIA_STREAM_INFO
Definition: ObTypes.h:690
OBCameraIntrinsic::fy
float fy
focal length in y direction
Definition: ObTypes.h:390
OBColorPoint::x
float x
x coordinate
Definition: ObTypes.h:771
ob_device_upgrade_callback
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
DEPTH_CROPPING_MODE_OPEN
Definition: ObTypes.h:657
OB_STATUS_OK
Definition: ObTypes.h:87
OB_FORMAT_HEVC
Definition: ObTypes.h:239
OBGyroFullScaleRange
OBGyroFullScaleRange
Enumeration of gyroscope ranges.
Definition: ObTypes.h:577
ob_protocol_version
struct OBProtocolVersion ob_protocol_version
OBTofExposureThresholdControl
TOF Exposure Threshold.
Definition: ObTypes.h:796
OB_POWER_LINE_FREQ_MODE_60HZ
60Hz
Definition: ObTypes.h:1230
ob_error::message
char message[256]
Describe the detailed error log.
Definition: ObTypes.h:145
OB_STREAM_GYRO
Definition: ObTypes.h:186
OBDataBundle
Definition: ObTypes.h:1139
STAT_IN_PROGRESS
Definition: ObTypes.h:269
OB_STREAM_ACCEL
Definition: ObTypes.h:185
OBMediaType
OBMediaType
record playback of the type of interest
Definition: ObTypes.h:682
ob_usb_power_state
enum OBUSBPowerState ob_usb_power_state
ob_data_chunk
struct OBDataChunk ob_data_chunk
OBCameraParam_V0::transform
OBD2CTransform transform
rotation/transformation matrix
Definition: ObTypes.h:458
OBDepthWorkMode
Depth work mode.
Definition: ObTypes.h:1070
OBCameraParam_V0
Camera parameters.
Definition: ObTypes.h:453
OB_STREAM_IR
Definition: ObTypes.h:182
OB_USB_POWER_5V_0A9
5V/0.9A
Definition: ObTypes.h:1186
OB_SAMPLE_RATE
enum OBGyroSampleRate OB_SAMPLE_RATE
OB_FORMAT_GRAY
Definition: ObTypes.h:238
OB_LOG_SEVERITY_ERROR
Definition: ObTypes.h:103
OB_FRAME_AGGREGATE_OUTPUT_MODE
OB_FRAME_AGGREGATE_OUTPUT_MODE
Frame aggregate output mode.
Definition: ObTypes.h:1241
OBCameraDistortion::k3
float k3
Radial distortion factor 3.
Definition: ObTypes.h:407
OBCompressionParams
Definition: ObTypes.h:785
OB_DC_POWER_PLUGIN
plugin
Definition: ObTypes.h:1201
ob_device_info
struct DeviceInfoImpl ob_device_info
Definition: ObTypes.h:49
OBDeviceTemperature
Get the temperature parameters of the device (unit: Celsius)
Definition: ObTypes.h:633
OB_FRAME_DEPTH
Definition: ObTypes.h:204
OBProtocolVersion::patch
uint8_t patch
Patch version number.
Definition: ObTypes.h:1086
OB_FRAME_ACCEL
Definition: ObTypes.h:205
OBRect::x
uint32_t x
origin coordinate x
Definition: ObTypes.h:508
OB_FRAME_POINTS
Definition: ObTypes.h:207
FORMAT_RGB888_TO_BGR
Definition: ObTypes.h:527
OB_MEDIA_STATE_EM
enum OBMediaState OB_MEDIA_STATE_EM
DEPTH_CROPPING_MODE_AUTO
Definition: ObTypes.h:655
ob_frame
struct CFrameImpl ob_frame
Definition: ObTypes.h:56
OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER
Software trigger synchronize mode as secondary device.
Definition: ObTypes.h:928
OBDeviceTemperature::irRightTemp
float irRightTemp
if English Right IR temperature右IR温度
Definition: ObTypes.h:642
OB_COMPRESSION_LOSSY
Definition: ObTypes.h:781
FILE_TRAN_ERR_DDR
Definition: ObTypes.h:293
DATA_TRAN_STAT_DONE
Definition: ObTypes.h:311
OB_DEPTH_PRECISION_LEVEL
enum OBDepthPrecisionLevel OB_DEPTH_PRECISION_LEVEL
OBRect::width
uint32_t width
rectangle width
Definition: ObTypes.h:510
OB_TOF_CAMERA
Definition: ObTypes.h:671
DEVICE_LOG_SEVERITY_LEVEL
enum OBLogSeverity DEVICE_LOG_SEVERITY_LEVEL
OBColorPoint
3D point structure with color information
Definition: ObTypes.h:770
OBCameraIntrinsic::height
int16_t height
image height
Definition: ObTypes.h:394
MaskFilterConfig_S
Definition: ObTypes.h:478
OB_COMM_NET
Ethernet.
Definition: ObTypes.h:1173
OBIntPropertyRange::cur
int32_t cur
current value
Definition: ObTypes.h:344
OB_POWER_LINE_FREQ_MODE_50HZ
50Hz
Definition: ObTypes.h:1229
DEVICE_TEMPERATURE
struct OBDeviceTemperature DEVICE_TEMPERATURE
OBIntPropertyRange::def
int32_t def
Default.
Definition: ObTypes.h:348
ob_sensor_list
struct SensorListImpl ob_sensor_list
Definition: ObTypes.h:53
ob_frame_callback
void(* ob_frame_callback)(ob_frame *frame, void *user_data)
dataframe callback
Definition: ObTypes.h:1406
OB_ROTATE_DEGREE_0
Rotate 0.
Definition: ObTypes.h:1213
OBColorPoint::z
float z
z coordinate
Definition: ObTypes.h:773
MaskFilterConfig_S::mask_margin_th
int mask_margin_th
Definition: ObTypes.h:482
OBDERectifyMaskParams_V0
struct OBDERectifyMaskParams OBDERectifyMaskParams_V0
FILE_TRAN_ERR_PATH_NOT_WRITABLE
Definition: ObTypes.h:295
OB_SAMPLE_RATE_4_KHZ
Definition: ObTypes.h:563
OB_DEVICE_TYPE
enum OBDeviceType OB_DEVICE_TYPE
OBAccelValue::z
float z
z-direction component
Definition: ObTypes.h:614
DATA_TRAN_ERR_UNSUPPORTED
Definition: ObTypes.h:315
OBDeviceIpAddrConfig::dhcp
uint16_t dhcp
dhcp 动态 ip 配置开关; 0: 关; 1: 开
Definition: ObTypes.h:1158
ob_permission_type
enum OBPermissionType ob_permission_type
ALIGN_D2C_SW_MODE
Definition: ObTypes.h:496
OB_COMPRESSION_LOSSLESS
Definition: ObTypes.h:780
FILE_TRAN_ERR_MD5_ERROR
Definition: ObTypes.h:296
ob_device_sync_config
struct OBDeviceSyncConfig ob_device_sync_config
ERR_OTHER
Definition: ObTypes.h:277
OBDepthPrecisionLevel
OBDepthPrecisionLevel
depth accuracy class
Definition: ObTypes.h:725
OB_TOF_FILTER_RANGE_CLOSE
Definition: ObTypes.h:743
ob_format
enum OBFormat ob_format
ob_color_point
struct OBColorPoint ob_color_point
OB_DEVICE_SYNC_CONFIG
struct OBDeviceSyncConfig OB_DEVICE_SYNC_CONFIG
OB_FRAME_IR
Definition: ObTypes.h:202
OBFrameType
OBFrameType
Describe the Frame type enumeration value.
Definition: ObTypes.h:199
DEVICE_IP_ADDR_CONFIG
struct OBDeviceIpAddrConfig DEVICE_IP_ADDR_CONFIG
ob_frame_destroy_callback
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
STAT_DONE
Definition: ObTypes.h:268
FILE_TRAN_STAT_PREPAR
Definition: ObTypes.h:292
ob_depth_precision_level
enum OBDepthPrecisionLevel ob_depth_precision_level
OBDeviceSyncConfig::deviceTriggerSignalOutDelay
uint16_t deviceTriggerSignalOutDelay
Device trigger signal output delay, used to control the delay configuration of the host device to out...
Definition: ObTypes.h:1009
DATA_TRAN_STAT_VERIFYING
Definition: ObTypes.h:312
OBTofFilterRange
OBTofFilterRange
tof filter scene range
Definition: ObTypes.h:742
ob_data_tran_state
enum OBDataTranState ob_data_tran_state
OBStreamType
OBStreamType
Enumeration value describing the type of data stream.
Definition: ObTypes.h:178
OB_FORMAT_H265
Definition: ObTypes.h:229
OB_MEDIA_BEGIN
Definition: ObTypes.h:708
OB_CMD_VERSION_INVALID
Invalid version.
Definition: ObTypes.h:1104
OBDeviceLogSeverityLevel
enum OBLogSeverity OBDeviceLogSeverityLevel
OB_PRECISION_COUNT
Definition: ObTypes.h:731
ob_cmd_version
enum OB_CMD_VERSION ob_cmd_version
ob_gyro_full_scale_range
enum OBGyroFullScaleRange ob_gyro_full_scale_range
OB_SAMPLE_RATE_16_KHZ
Definition: ObTypes.h:565
OB_SYNC_MODE_STANDALONE
Standalone synchronize mode.
Definition: ObTypes.h:834
OBDeviceSyncConfig::deviceId
uint16_t deviceId
Device number. Users can mark the device with this number.
Definition: ObTypes.h:1048
OBCameraIntrinsic::width
int16_t width
image width
Definition: ObTypes.h:393
OB_SAMPLE_RATE_100_HZ
Definition: ObTypes.h:558
OBDeviceSyncConfig::rgbTriggerSignalInDelay
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
OB_GYRO_FULL_SCALE_RANGE
enum OBGyroFullScaleRange OB_GYRO_FULL_SCALE_RANGE
ob_filter
struct FilterImpl ob_filter
Definition: ObTypes.h:57
ob_get_data_callback
void(* ob_get_data_callback)(ob_data_tran_state state, ob_data_chunk *dataChunk, void *user_data)
read data callback
Definition: ObTypes.h:1365
FORMAT_MJPG_TO_RGB888
Definition: ObTypes.h:529
OB_SYNC_MODE_SECONDARY
Secondary synchronize mode.
Definition: ObTypes.h:868
OBConvertFormat
OBConvertFormat
format conversion type enumeration
Definition: ObTypes.h:521
FILE_TRAN_STAT_DONE
Definition: ObTypes.h:291
OB_STRUCTURED_LIGHT_MONOCULAR_CAMERA
Definition: ObTypes.h:669
OB_STREAM_COLOR
Definition: ObTypes.h:183
OB_COMPRESSION_MODE
enum OBCompressionMode OB_COMPRESSION_MODE
ob_camera_param_list
struct CameraParamListImpl ob_camera_param_list
Definition: ObTypes.h:51
ob_set_data_callback
void(* ob_set_data_callback)(ob_data_tran_state state, uint8_t percent, void *user_data)
Callback for writing data.
Definition: ObTypes.h:1350
OB_FRAME_SET
Definition: ObTypes.h:206
OBFloatPropertyRange::def
float def
default
Definition: ObTypes.h:363
OBDERectifyMaskParams::leftVirtualIntrin
OBCameraIntrinsic leftVirtualIntrin
Definition: ObTypes.h:474
FORMAT_NV12_TO_RGB888
Definition: ObTypes.h:525
OB_GYRO_FS_31dps
Definition: ObTypes.h:579
OB_STATUS_ERROR
Definition: ObTypes.h:88
FORMAT_BGR_TO_RGB
Definition: ObTypes.h:533
OBDataChunk::data
void * data
current block data pointer
Definition: ObTypes.h:330
OB_PERMISSION_READ_WRITE
Definition: ObTypes.h:75
OBDeviceSyncConfig::mcuTriggerFrequency
uint16_t mcuTriggerFrequency
MCU trigger frequency, used to configure the output frequency of MCU trigger signal in MCU master mod...
Definition: ObTypes.h:1039
OB_FORMAT_Y8
Definition: ObTypes.h:231
OB_STREAM_IR_LEFT
Definition: ObTypes.h:187
ob_frameset_callback
void(* ob_frameset_callback)(ob_frame *frameset, void *user_data)
dataframe collection callback
Definition: ObTypes.h:1421
OB_FRAME_VIDEO
Definition: ObTypes.h:201
OBColorPoint::r
float r
red channel component
Definition: ObTypes.h:774
ob_gyro_value
struct OBAccelValue ob_gyro_value
MaskFilterConfig_S::margin_th_v
int margin_th_v
Definition: ObTypes.h:481
OB_USB_POWER_NO_PLUGIN
no plugin
Definition: ObTypes.h:1185
OBBoolPropertyRange
Boolean-scoped structure.
Definition: ObTypes.h:373
ob_point
struct OBPoint ob_point
ob_sync_mode
enum OBSyncMode ob_sync_mode
OB_FORMAT_Y14
Definition: ObTypes.h:248
OB_STREAM_UNKNOWN
Definition: ObTypes.h:179
ob_file_send_callback
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
OB_SENSOR_COLOR
Definition: ObTypes.h:162
OB_PRECISION_0MM2
Definition: ObTypes.h:730
FILE_TRAN_ERR_WRITE_FLASH_ERROR
Definition: ObTypes.h:297
OBCommunicationType
OBCommunicationType
Device communication mode.
Definition: ObTypes.h:1171
OB_SYNC_MODE_PRIMARY
Primary synchronize mode.
Definition: ObTypes.h:849
OBDeviceState
uint64_t OBDeviceState
Device state.
Definition: ObTypes.h:624
ob_pipeline
struct PipelineImpl ob_pipeline
Definition: ObTypes.h:58
OBDeviceTemperature::chipTopTemp
float chipTopTemp
if English MX6600 top temperatureMX6600 top 温度
Definition: ObTypes.h:643
OB_SYNC_MODE
enum OBSyncMode OB_SYNC_MODE
OBDeviceSyncConfig
Device synchronization configuration.
Definition: ObTypes.h:959
OB_SYNC_MODE_CLOSE
Close synchronize mode.
Definition: ObTypes.h:821
OBBoolPropertyRange::step
bool step
step value
Definition: ObTypes.h:377
ob_rotate_degree_type
ob_rotate_degree_type
Rotate degree.
Definition: ObTypes.h:1212
ob_media_state_callback
void(* ob_media_state_callback)(ob_media_state state, void *user_data)
Media status callbacks (recording and playback)
Definition: ObTypes.h:1378
ob_error::status
ob_status status
Definition: ObTypes.h:143
OB_FORMAT_YUY2
Definition: ObTypes.h:223
ob_log_severity
enum OBLogSeverity ob_log_severity
ALIGN_D2C_HW_MODE
Definition: ObTypes.h:495
DATA_TRAN_ERR_TRAN_FAILED
Definition: ObTypes.h:316
OB_SAMPLE_RATE_25_HZ
Definition: ObTypes.h:556
OB_TOF_FILTER_RANGE_MIDDLE
Definition: ObTypes.h:744
OBDataBundle::itemTypeSize
uint32_t itemTypeSize
Definition: ObTypes.h:1147
ob_camera_distortion
struct OBCameraDistortion ob_camera_distortion
OB_GYRO_FS_500dps
Definition: ObTypes.h:583
OB_FORMAT_RLE
Definition: ObTypes.h:245
OBFileTranState
OBFileTranState
file transfer status
Definition: ObTypes.h:289
OB_GYRO_FS_1000dps
Definition: ObTypes.h:584
DATA_TRAN_STAT_TRANSFERRING
Definition: ObTypes.h:313
ob_file_tran_state
enum OBFileTranState ob_file_tran_state
ob_device_type
enum OBDeviceType ob_device_type
OB_ACCEL_FS_8g
Definition: ObTypes.h:599
OBCameraDistortion::k4
float k4
Radial distortion factor 4.
Definition: ObTypes.h:408
OBCameraParam_V0::rgbIntrinsic
OBCameraIntrinsic rgbIntrinsic
Color camera internal parameters.
Definition: ObTypes.h:455
ob_error::exception_type
ob_exception_type exception_type
The description is the specific error type of the SDK.
Definition: ObTypes.h:149
OB_SENSOR_IR
Definition: ObTypes.h:161
OB_EXCEPTION_TYPE_IO
Definition: ObTypes.h:127
OBCameraParam_V0::depthIntrinsic
OBCameraIntrinsic depthIntrinsic
Depth camera internal parameters.
Definition: ObTypes.h:454
ob_depth_work_mode_list
struct OBDepthWorkModeListImpl ob_depth_work_mode_list
Definition: ObTypes.h:62
OB_PRECISION_1MM
Definition: ObTypes.h:726
OB_ROTATE_DEGREE_180
Rotate 180.
Definition: ObTypes.h:1215
OBFrameAggregateOutputMode
enum OB_FRAME_AGGREGATE_OUTPUT_MODE OBFrameAggregateOutputMode
ob_camera_intrinsic
struct OBCameraIntrinsic ob_camera_intrinsic
OBCameraParam::transform
OBD2CTransform transform
rotation/transformation matrix
Definition: ObTypes.h:439
FILE_TRAN_STAT_TRANSFER
Definition: ObTypes.h:290
OB_SAMPLE_RATE_6_25_HZ
Definition: ObTypes.h:554
ob_dc_power_state
enum OBDCPowerState ob_dc_power_state
OBAlignMode
OBAlignMode
alignment mode
Definition: ObTypes.h:493
ob_align_mode
enum OBAlignMode ob_align_mode
OB_LOG_SEVERITY_INFO
Definition: ObTypes.h:101
ob_status
enum OBStatus ob_status
OBPowerLineFreqMode
enum ob_power_line_freq_mode OBPowerLineFreqMode
FORMAT_MJPG_TO_NV21
Definition: ObTypes.h:528
FORMAT_MJPG_TO_BGR888
Definition: ObTypes.h:530
OBGyroSampleRate
OBGyroSampleRate
Enumeration of IMU sample rate values ​​(gyroscope or accelerometer)
Definition: ObTypes.h:551
OB_SAMPLE_RATE_8_KHZ
Definition: ObTypes.h:564
ob_error
The error class exposed by the SDK, users can get detailed error information according to the erro...
Definition: ObTypes.h:142
OBColorPoint::y
float y
y coordinate
Definition: ObTypes.h:772
DATA_TRAN_ERR_OTHER
Definition: ObTypes.h:318
ob_mask_filter_config
struct MaskFilterConfig_S ob_mask_filter_config
OB_SAMPLE_RATE_1_KHZ
Definition: ObTypes.h:561
ob_camera_param_v0
struct OBCameraParam_V0 ob_camera_param_v0
OBCameraDistortion::k5
float k5
Radial distortion factor 5.
Definition: ObTypes.h:409
OB_SENSOR_DEPTH
Definition: ObTypes.h:163
OBAccelValue::x
float x
x-direction component
Definition: ObTypes.h:612
OBCameraIntrinsic
Camera internal parameters.
Definition: ObTypes.h:388
OB_MEDIA_ALL
Definition: ObTypes.h:694
OB_PERMISSION_WRITE
Definition: ObTypes.h:74
OBIntPropertyRange
Int range structure.
Definition: ObTypes.h:343
OB_PRECISION_0MM4
Definition: ObTypes.h:728