| OrbbecSDK 1.5.7 OrbbecSDK: Software-Development-Kit for Orbbec 3D-Sensor devices

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ObTypes.h File Reference

Provide structs commonly used in the SDK, enumerating constant definitions. More...

`#include <stdbool.h>`
`#include <stdint.h>`

Go to the source code of this file.

## Classes
struct | ob_error
| The error class exposed by the SDK, users can get detailed error information according to the erro. More...
struct | OBDataChunk
| Data block structure for data block transmission. More...
struct | OBIntPropertyRange
| Int range structure. More...
struct | OBFloatPropertyRange
| Float range structure. More...
struct | OBBoolPropertyRange
| Boolean-scoped structure. More...
struct | OBCameraIntrinsic
| Camera internal parameters. More...
struct | OBCameraDistortion
| Distortion Parameters. More...
struct | OBD2CTransform
| Rotation/Transformation. More...
struct | OBCameraParam
| Camera parameters. More...
struct | OBCameraParam_V0
| Camera parameters. More...
struct | OBDERectifyMaskParams
| 深度对齐校验参数 More...
struct | MaskFilterConfig_S
struct | OBRect
| rectangle More...
struct | OBAccelValue
| Data structures for accelerometers and gyroscopes. More...
struct | OBDeviceTemperature
| Get the temperature parameters of the device (unit: Celsius) More...
struct | OBPoint
| 3D point structure in SDK More...
struct | OBColorPoint
| 3D point structure with color information More...
struct | OBCompressionParams
struct | OBTofExposureThresholdControl
| TOF Exposure Threshold. More...
struct | OBDeviceSyncConfig
| Device synchronization configuration. More...
struct | OBDepthWorkMode
| Depth work mode. More...
struct | OBProtocolVersion
| Command version of device property. More...
struct | OBDataBundle
struct | OBDeviceIpAddrConfig
| 网络设备的 IP 地址配置（ipv4） More...

## Macros
#define | OB_EXTENSION_API __attribute__((visibility("default")))
#define | OB_EXTENSION_INTERNAL_API
#define | DEPRECATED
#define | OB_FORMAT_RGB888 OB_FORMAT_RGB
#define | OB_FORMAT_MJPEG OB_FORMAT_MJPG
#define | FORMAT_MJPEG_TO_I420 FORMAT_MJPG_TO_I420
#define | FORMAT_MJPEG_TO_NV21 FORMAT_MJPG_TO_NV21
#define | FORMAT_MJPEG_TO_RGB888 FORMAT_MJPG_TO_RGB888
#define | FORMAT_MJPEG_TO_BGR888 FORMAT_MJPG_TO_BGR888
#define | FORMAT_MJPEG_TO_BGRA FORMAT_MJPG_TO_BGRA
#define | OB_SYNC_STOP OB_SYNC_MODE_CLOSE
#define | OB_SYNC_SINGLE_MODE OB_SYNC_MODE_STANDALONE
#define | OB_SYNC_ONLINE_HOST_MODE OB_SYNC_MODE_PRIMARY
#define | OB_SYNC_ONLINE_SLAVE_MODE OB_SYNC_MODE_SECONDARY
#define | OB_SYNC_ONLY_MCU_MODE OB_SYNC_MODE_PRIMARY_MCU_TRIGGER
#define | OB_SYNC_ONLY_IR_MODE OB_SYNC_MODE_PRIMARY_IR_TRIGGER
#define | OBMultiDeviceSyncConfig OBDeviceSyncConfig
#define | ob_multi_device_sync_config ob_device_sync_config
#define | ob_filter_callback ob_frame_callback
#define | ob_playback_callback ob_frame_callback
#define | is_ir_sensor(sensor_type) (sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT || sensor_type == OB_SENSOR_IR_RIGHT)
| Check sensor_type is IR sensor, true: IR sensor, false: no IR sensor. More...
#define | isIRSensor is_ir_sensor
#define | is_ir_stream(stream_type) (stream_type == OB_STREAM_IR || stream_type == OB_STREAM_IR_LEFT || stream_type == OB_STREAM_IR_RIGHT)
| Check stream_type is IR stream, true: IR stream, false: no IR stream. More...
#define | isIRStream is_ir_stream
#define | is_ir_frame(frame_type) (frame_type == OB_FRAME_IR || frame_type == OB_FRAME_IR_LEFT || frame_type == OB_FRAME_IR_RIGHT)
| Check frame_type is IR frame, true: IR frame, false: no IR frame. More...
#define | isIRFrame is_ir_frame

## Typedefs
typedef struct ContextImpl | ob_context
typedef struct DeviceImpl | ob_device
typedef struct DeviceInfoImpl | ob_device_info
typedef struct DeviceListImpl | ob_device_list
typedef struct CameraParamListImpl | ob_camera_param_list
typedef struct SensorImpl | ob_sensor
typedef struct SensorListImpl | ob_sensor_list
typedef struct StreamProfileImpl | ob_stream_profile
typedef struct StreamProfileListImpl | ob_stream_profile_list
typedef struct CFrameImpl | ob_frame
typedef struct FilterImpl | ob_filter
typedef struct PipelineImpl | ob_pipeline
typedef struct ConfigImpl | ob_config
typedef struct RecorderImpl | ob_recorder
typedef struct PlaybackImpl | ob_playback
typedef struct OBDepthWorkModeListImpl | ob_depth_work_mode_list
typedef enum OBPermissionType | ob_permission_type
typedef enum OBStatus | ob_status
typedef enum OBLogSeverity | ob_log_severity
typedef enum OBLogSeverity | DEVICE_LOG_SEVERITY_LEVEL
typedef enum OBLogSeverity | OBDeviceLogSeverityLevel
typedef enum OBLogSeverity | ob_device_log_severity_level
typedef enum OBExceptionType | ob_exception_type
typedef struct ob_error | ob_error
| The error class exposed by the SDK, users can get detailed error information according to the erro. More...
typedef enum OBSensorType | ob_sensor_type
typedef enum OBStreamType | ob_stream_type
typedef enum OBFrameType | ob_frame_type
typedef enum OBFormat | ob_format
typedef enum OBUpgradeState | ob_upgrade_state
typedef enum OBFileTranState | ob_file_tran_state
typedef enum OBDataTranState | ob_data_tran_state
typedef struct OBDataChunk | ob_data_chunk
typedef struct OBIntPropertyRange | ob_int_property_range
typedef struct OBFloatPropertyRange | ob_float_property_range
typedef struct OBBoolPropertyRange | ob_bool_property_range
typedef struct OBCameraIntrinsic | ob_camera_intrinsic
typedef struct OBCameraDistortion | ob_camera_distortion
typedef struct OBD2CTransform | ob_d2c_transform
typedef struct OBCameraParam | ob_camera_param
typedef struct OBCameraParam_V0 | ob_camera_param_v0
typedef struct OBDERectifyMaskParams | OBDERectifyMaskParams_V0
typedef struct MaskFilterConfig_S | ob_mask_filter_config
typedef struct MaskFilterConfig_S | OBMaskFilterConfig
typedef enum OBAlignMode | ob_align_mode
typedef struct OBRect | ob_rect
typedef enum OBConvertFormat | ob_convert_format
typedef enum OBGyroSampleRate | ob_gyro_sample_rate
typedef enum OBGyroSampleRate | OBAccelSampleRate
typedef enum OBGyroSampleRate | ob_accel_sample_rate
typedef enum OBGyroSampleRate | OB_SAMPLE_RATE
typedef enum OBGyroFullScaleRange | ob_gyro_full_scale_range
typedef enum OBGyroFullScaleRange | OB_GYRO_FULL_SCALE_RANGE
typedef enum OBAccelFullScaleRange | ob_accel_full_scale_range
typedef enum OBAccelFullScaleRange | OB_ACCEL_FULL_SCALE_RANGE
typedef struct OBAccelValue | OBGyroValue
typedef struct OBAccelValue | ob_accel_value
typedef struct OBAccelValue | ob_gyro_value
typedef uint64_t | OBDeviceState
| Device state. More...
typedef uint64_t | ob_device_state
typedef struct OBDeviceTemperature | ob_device_temperature
typedef struct OBDeviceTemperature | DEVICE_TEMPERATURE
typedef enum OBDepthCroppingMode | ob_depth_cropping_mode
typedef enum OBDepthCroppingMode | OB_DEPTH_CROPPING_MODE
typedef enum OBDeviceType | ob_device_type
typedef enum OBDeviceType | OB_DEVICE_TYPE
typedef enum OBMediaType | ob_media_type
typedef enum OBMediaType | OB_MEDIA_TYPE
typedef enum OBMediaState | ob_media_state
typedef enum OBMediaState | OB_MEDIA_STATE_EM
typedef enum OBDepthPrecisionLevel | ob_depth_precision_level
typedef enum OBDepthPrecisionLevel | OB_DEPTH_PRECISION_LEVEL
typedef enum OBTofFilterRange | ob_tof_filter_range
typedef enum OBTofFilterRange | TOF_FILTER_RANGE
typedef struct OBPoint | ob_point
typedef struct OBColorPoint | ob_color_point
typedef enum OBCompressionMode | ob_compression_mode
typedef enum OBCompressionMode | OB_COMPRESSION_MODE
typedef struct OBCompressionParams | ob_compression_params
typedef struct OBCompressionParams | OB_COMPRESSION_PARAMS
typedef struct OBTofExposureThresholdControl | ob_tof_exposure_threshold_control
typedef struct OBTofExposureThresholdControl | TOF_EXPOSURE_THRESHOLD_CONTROL
typedef enum OBSyncMode | ob_sync_mode
typedef enum OBSyncMode | OB_SYNC_MODE
typedef struct OBDeviceSyncConfig | ob_device_sync_config
typedef struct OBDeviceSyncConfig | OB_DEVICE_SYNC_CONFIG
typedef struct OBDepthWorkMode | ob_depth_work_mode
typedef struct OBProtocolVersion | ob_protocol_version
typedef enum OB_CMD_VERSION | OBCmdVersion
typedef enum OB_CMD_VERSION | ob_cmd_version
typedef struct OBDataBundle | OBDataBundle
typedef struct OBDataBundle | ob_data_bundle
typedef struct OBDeviceIpAddrConfig | ob_device_ip_addr_config
typedef struct OBDeviceIpAddrConfig | DEVICE_IP_ADDR_CONFIG
typedef enum OBCommunicationType | ob_communication_type
typedef enum OBCommunicationType | OB_COMMUNICATION_TYPE
typedef enum OBUSBPowerState | ob_usb_power_state
typedef enum OBDCPowerState | ob_dc_power_state
typedef enum ob_rotate_degree_type | OBRotateDegreeType
typedef enum ob_power_line_freq_mode | OBPowerLineFreqMode
typedef enum OB_FRAME_AGGREGATE_OUTPUT_MODE | OBFrameAggregateOutputMode
typedef enum OB_FRAME_AGGREGATE_OUTPUT_MODE | ob_frame_aggregate_output_mode
typedef void(* | ob_file_send_callback) (ob_file_tran_state state, const char *message, uint8_t percent, void *user_data)
| file transfer callback More...
typedef void(* | ob_device_upgrade_callback) (ob_upgrade_state state, const char *message, uint8_t percent, void *user_data)
| Firmware upgrade callback. More...
typedef void(* | ob_device_state_callback) (ob_device_state state, const char *message, void *user_data)
| device status callback More...
typedef void(* | ob_set_data_callback) (ob_data_tran_state state, uint8_t percent, void *user_data)
| Callback for writing data. More...
typedef void(* | ob_get_data_callback) (ob_data_tran_state state, ob_data_chunk *dataChunk, void *user_data)
| read data callback More...
typedef void(* | ob_media_state_callback) (ob_media_state state, void *user_data)
| Media status callbacks (recording and playback) More...
typedef void(* | ob_device_changed_callback) (ob_device_list *removed, ob_device_list *added, void *user_data)
| Device change (up and down) callback. More...
typedef void(* | ob_frame_callback) (ob_frame *frame, void *user_data)
| dataframe callback More...
typedef void(* | ob_frameset_callback) (ob_frame *frameset, void *user_data)
| dataframe collection callback More...
typedef 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 More...

## Enumerations
enum | OBPermissionType { OB_PERMISSION_DENY = 0, OB_PERMISSION_READ = 1, OB_PERMISSION_WRITE = 2, OB_PERMISSION_READ_WRITE = 3 }
| the permission type of api or property More...
enum | OBStatus { OB_STATUS_OK = 0, OB_STATUS_ERROR = 1 }
| error code More...
enum | OBLogSeverity { OB_LOG_SEVERITY_DEBUG, OB_LOG_SEVERITY_INFO, OB_LOG_SEVERITY_WARN, OB_LOG_SEVERITY_ERROR, OB_LOG_SEVERITY_FATAL, OB_LOG_SEVERITY_NONE }
| log level, the higher the level, the stronger the log filter More...
enum | OBExceptionType { OB_EXCEPTION_TYPE_UNKNOWN, OB_EXCEPTION_TYPE_CAMERA_DISCONNECTED, OB_EXCEPTION_TYPE_PLATFORM, OB_EXCEPTION_TYPE_INVALID_VALUE, OB_EXCEPTION_TYPE_WRONG_API_CALL_SEQUENCE, OB_EXCEPTION_TYPE_NOT_IMPLEMENTED, OB_EXCEPTION_TYPE_IO, OB_EXCEPTION_TYPE_MEMORY, OB_EXCEPTION_TYPE_UNSUPPORTED_OPERATION }
| The exception types in the SDK, through the exception type, you can easily determine the specific type of error. For detailed error API interface functions and error logs, please refer to the information of ob_error. More...
enum | OBSensorType { OB_SENSOR_UNKNOWN = 0, OB_SENSOR_IR = 1, OB_SENSOR_COLOR = 2, OB_SENSOR_DEPTH = 3, OB_SENSOR_ACCEL = 4, OB_SENSOR_GYRO = 5, OB_SENSOR_IR_LEFT = 6, OB_SENSOR_IR_RIGHT = 7 }
| Enumeration value describing the sensor type. More...
enum | OBStreamType { OB_STREAM_UNKNOWN = -1, OB_STREAM_VIDEO, OB_STREAM_IR = 1, OB_STREAM_COLOR = 2, OB_STREAM_DEPTH = 3, OB_STREAM_ACCEL = 4, OB_STREAM_GYRO = 5, OB_STREAM_IR_LEFT = 6, OB_STREAM_IR_RIGHT = 7 }
| Enumeration value describing the type of data stream. More...
enum | OBFrameType { OB_FRAME_UNKNOWN = -1, OB_FRAME_VIDEO = 0, OB_FRAME_IR = 1, OB_FRAME_COLOR = 2, OB_FRAME_DEPTH = 3, OB_FRAME_ACCEL = 4, OB_FRAME_SET = 5, OB_FRAME_POINTS = 6, OB_FRAME_GYRO = 7, OB_FRAME_IR_LEFT = 8, OB_FRAME_IR_RIGHT = 9 }
| Describe the Frame type enumeration value. More...
enum | OBFormat { OB_FORMAT_YUYV = 0, OB_FORMAT_YUY2 = 1, OB_FORMAT_UYVY = 2, OB_FORMAT_NV12 = 3, OB_FORMAT_NV21 = 4, OB_FORMAT_MJPG = 5, OB_FORMAT_H264 = 6, OB_FORMAT_H265 = 7, OB_FORMAT_Y16 = 8, OB_FORMAT_Y8 = 9, OB_FORMAT_Y10 = 10, OB_FORMAT_Y11 = 11, OB_FORMAT_Y12 = 12, OB_FORMAT_GRAY = 13, OB_FORMAT_HEVC = 14, OB_FORMAT_I420 = 15, OB_FORMAT_ACCEL = 16, OB_FORMAT_GYRO = 17, OB_FORMAT_POINT = 19, OB_FORMAT_RGB_POINT = 20, OB_FORMAT_RLE = 21, OB_FORMAT_RGB = 22, OB_FORMAT_BGR = 23, OB_FORMAT_Y14 = 24, OB_FORMAT_BGRA = 25, OB_FORMAT_COMPRESSED = 26, OB_FORMAT_UNKNOWN = 0xff }
| Enumeration value describing the pixel format. More...
enum | OBUpgradeState { STAT_FILE_TRANSFER = 4, STAT_DONE = 3, STAT_IN_PROGRESS = 2, STAT_START = 1, STAT_VERIFY_IMAGE = 0, ERR_VERIFY = -1, ERR_PROGRAM = -2, ERR_ERASE = -3, ERR_FLASH_TYPE = -4, ERR_IMAGE_SIZE = -5, ERR_OTHER = -6, ERR_DDR = -7, ERR_TIMEOUT = -8 }
| Firmware upgrade status. More...
enum | OBFileTranState { FILE_TRAN_STAT_TRANSFER = 2, FILE_TRAN_STAT_DONE = 1, FILE_TRAN_STAT_PREPAR = 0, FILE_TRAN_ERR_DDR = -1, FILE_TRAN_ERR_NOT_ENOUGH_SPACE = -2, FILE_TRAN_ERR_PATH_NOT_WRITABLE = -3, FILE_TRAN_ERR_MD5_ERROR = -4, FILE_TRAN_ERR_WRITE_FLASH_ERROR = -5, FILE_TRAN_ERR_TIMEOUT = -6 }
| file transfer status More...
enum | OBDataTranState { DATA_TRAN_STAT_STOPPED = 3, DATA_TRAN_STAT_DONE = 2, DATA_TRAN_STAT_VERIFYING = 1, DATA_TRAN_STAT_TRANSFERRING = 0, DATA_TRAN_ERR_BUSY = -1, DATA_TRAN_ERR_UNSUPPORTED = -2, DATA_TRAN_ERR_TRAN_FAILED = -3, DATA_TRAN_ERR_VERIFY_FAILED = -4, DATA_TRAN_ERR_OTHER = -5 }
| data transfer status More...
enum | OBAlignMode { ALIGN_DISABLE, ALIGN_D2C_HW_MODE, ALIGN_D2C_SW_MODE }
| alignment mode More...
enum | OBConvertFormat { FORMAT_YUYV_TO_RGB888 = 0, FORMAT_I420_TO_RGB888, FORMAT_NV21_TO_RGB888, FORMAT_NV12_TO_RGB888, FORMAT_MJPG_TO_I420, FORMAT_RGB888_TO_BGR, FORMAT_MJPG_TO_NV21, FORMAT_MJPG_TO_RGB888, FORMAT_MJPG_TO_BGR888, FORMAT_MJPG_TO_BGRA, FORMAT_UYVY_TO_RGB888, FORMAT_BGR_TO_RGB }
| format conversion type enumeration More...
enum | OBGyroSampleRate { OB_SAMPLE_RATE_1_5625_HZ = 1, OB_SAMPLE_RATE_3_125_HZ, OB_SAMPLE_RATE_6_25_HZ, OB_SAMPLE_RATE_12_5_HZ, OB_SAMPLE_RATE_25_HZ, OB_SAMPLE_RATE_50_HZ, OB_SAMPLE_RATE_100_HZ, OB_SAMPLE_RATE_200_HZ, OB_SAMPLE_RATE_500_HZ, OB_SAMPLE_RATE_1_KHZ, OB_SAMPLE_RATE_2_KHZ, OB_SAMPLE_RATE_4_KHZ, OB_SAMPLE_RATE_8_KHZ, OB_SAMPLE_RATE_16_KHZ, OB_SAMPLE_RATE_32_KHZ }
| Enumeration of IMU sample rate values ​​(gyroscope or accelerometer) More...
enum | OBGyroFullScaleRange { OB_GYRO_FS_16dps = 1, OB_GYRO_FS_31dps, OB_GYRO_FS_62dps, OB_GYRO_FS_125dps, OB_GYRO_FS_250dps, OB_GYRO_FS_500dps, OB_GYRO_FS_1000dps, OB_GYRO_FS_2000dps }
| Enumeration of gyroscope ranges. More...
enum | OBAccelFullScaleRange { OB_ACCEL_FS_2g = 1, OB_ACCEL_FS_4g, OB_ACCEL_FS_8g, OB_ACCEL_FS_16g }
| Accelerometer range enumeration. More...
enum | OBDepthCroppingMode { DEPTH_CROPPING_MODE_AUTO = 0, DEPTH_CROPPING_MODE_CLOSE = 1, DEPTH_CROPPING_MODE_OPEN = 2 }
| Depth crop mode enumeration. More...
enum | OBDeviceType { OB_STRUCTURED_LIGHT_MONOCULAR_CAMERA = 0, OB_STRUCTURED_LIGHT_BINOCULAR_CAMERA = 1, OB_TOF_CAMERA = 2 }
| device type enumeration More...
enum | OBMediaType { OB_MEDIA_COLOR_STREAM = 1, OB_MEDIA_DEPTH_STREAM = 2, OB_MEDIA_IR_STREAM = 4, OB_MEDIA_GYRO_STREAM = 8, OB_MEDIA_ACCEL_STREAM = 16, OB_MEDIA_CAMERA_PARAM = 32, OB_MEDIA_DEVICE_INFO = 64, OB_MEDIA_STREAM_INFO = 128, OB_MEDIA_IR_LEFT_STREAM = 256, OB_MEDIA_IR_RIGHT_STREAM = 512, OB_MEDIA_ALL }
| record playback of the type of interest More...
enum | OBMediaState { OB_MEDIA_BEGIN = 0, OB_MEDIA_PAUSE, OB_MEDIA_RESUME, OB_MEDIA_END }
| Record playback status. More...
enum | OBDepthPrecisionLevel { OB_PRECISION_1MM, OB_PRECISION_0MM8, OB_PRECISION_0MM4, OB_PRECISION_0MM1, OB_PRECISION_0MM2, OB_PRECISION_COUNT }
| depth accuracy class More...
enum | OBTofFilterRange { OB_TOF_FILTER_RANGE_CLOSE = 0, OB_TOF_FILTER_RANGE_MIDDLE = 1, OB_TOF_FILTER_RANGE_LONG = 2, OB_TOF_FILTER_RANGE_DEBUG = 100 }
| tof filter scene range More...
enum | OBCompressionMode { OB_COMPRESSION_LOSSLESS = 0, OB_COMPRESSION_LOSSY = 1 }
enum | OBSyncMode { OB_SYNC_MODE_CLOSE = 0x00, OB_SYNC_MODE_STANDALONE = 0x01, OB_SYNC_MODE_PRIMARY = 0x02, OB_SYNC_MODE_SECONDARY = 0x03, OB_SYNC_MODE_PRIMARY_MCU_TRIGGER = 0x04, OB_SYNC_MODE_PRIMARY_IR_TRIGGER = 0x05, OB_SYNC_MODE_PRIMARY_SOFT_TRIGGER = 0x06, OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER = 0x07, OB_SYNC_MODE_UNKNOWN = 0xff }
| Sync mode. More...
enum | OB_CMD_VERSION { OB_CMD_VERSION_V0 = (uint16_t)0, OB_CMD_VERSION_V1 = (uint16_t)1, OB_CMD_VERSION_V2 = (uint16_t)2, OB_CMD_VERSION_V3 = (uint16_t)3, OB_CMD_VERSION_NOVERSION = (uint16_t)0xfffe, OB_CMD_VERSION_INVALID = (uint16_t)0xffff }
enum | OBCommunicationType { OB_COMM_USB = 0x00, OB_COMM_NET = 0x01 }
| Device communication mode. More...
enum | OBUSBPowerState { OB_USB_POWER_NO_PLUGIN = 0, OB_USB_POWER_5V_0A9 = 1, OB_USB_POWER_5V_1A5 = 2, OB_USB_POWER_5V_3A0 = 3 }
| USB power status. More...
enum | OBDCPowerState { OB_DC_POWER_NO_PLUGIN = 0, OB_DC_POWER_PLUGIN = 1 }
| DC power status. More...
enum | ob_rotate_degree_type { OB_ROTATE_DEGREE_0 = 0, OB_ROTATE_DEGREE_90 = 90, OB_ROTATE_DEGREE_180 = 180, OB_ROTATE_DEGREE_270 = 270 }
| Rotate degree. More...
enum | ob_power_line_freq_mode { OB_POWER_LINE_FREQ_MODE_CLOSE = 0, OB_POWER_LINE_FREQ_MODE_50HZ = 1, OB_POWER_LINE_FREQ_MODE_60HZ = 2 }
| Power line frequency mode，for Color camera anti-flicker configuration. More...
enum | OB_FRAME_AGGREGATE_OUTPUT_MODE { OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE = 0, OB_FRAME_AGGREGATE_OUTPUT_COLOR_FRAME_REQUIRE, OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION }
| Frame aggregate output mode. More...

## Detailed Description

Provide structs commonly used in the SDK, enumerating constant definitions.

Definition in file ObTypes.h.

## Macro Definition Documentation

#define OB_EXTENSION_API __attribute__((visibility("default")))

Definition at line 25 of file ObTypes.h.

#define OB_EXTENSION_INTERNAL_API

Definition at line 26 of file ObTypes.h.

#define DEPRECATED

Definition at line 35 of file ObTypes.h.

#define OB_FORMAT_RGB888 OB_FORMAT_RGB

Definition at line 256 of file ObTypes.h.

#define OB_FORMAT_MJPEG OB_FORMAT_MJPG

Definition at line 257 of file ObTypes.h.

#define FORMAT_MJPEG_TO_I420 FORMAT_MJPG_TO_I420

Definition at line 538 of file ObTypes.h.

#define FORMAT_MJPEG_TO_NV21 FORMAT_MJPG_TO_NV21

Definition at line 539 of file ObTypes.h.

#define FORMAT_MJPEG_TO_RGB888 FORMAT_MJPG_TO_RGB888

Definition at line 540 of file ObTypes.h.

#define FORMAT_MJPEG_TO_BGR888 FORMAT_MJPG_TO_BGR888

Definition at line 541 of file ObTypes.h.

#define FORMAT_MJPEG_TO_BGRA FORMAT_MJPG_TO_BGRA

Definition at line 542 of file ObTypes.h.

#define OB_SYNC_STOP OB_SYNC_MODE_CLOSE

Definition at line 943 of file ObTypes.h.

#define OB_SYNC_SINGLE_MODE OB_SYNC_MODE_STANDALONE

Definition at line 944 of file ObTypes.h.

#define OB_SYNC_ONLINE_HOST_MODE OB_SYNC_MODE_PRIMARY

Definition at line 945 of file ObTypes.h.

#define OB_SYNC_ONLINE_SLAVE_MODE OB_SYNC_MODE_SECONDARY

Definition at line 946 of file ObTypes.h.

#define OB_SYNC_ONLY_MCU_MODE OB_SYNC_MODE_PRIMARY_MCU_TRIGGER

Definition at line 947 of file ObTypes.h.

#define OB_SYNC_ONLY_IR_MODE OB_SYNC_MODE_PRIMARY_IR_TRIGGER

Definition at line 948 of file ObTypes.h.

#define OBMultiDeviceSyncConfig OBDeviceSyncConfig

Definition at line 1052 of file ObTypes.h.

#define ob_multi_device_sync_config ob_device_sync_config

Definition at line 1053 of file ObTypes.h.

#define OB_MULTI_DEVICE_SYNC_CONFIG OB_DEVICE_SYNC_CONFIG

Definition at line 1054 of file ObTypes.h.

#define ob_filter_callback ob_frame_callback

Definition at line 1407 of file ObTypes.h.

#define ob_playback_callback ob_frame_callback

Definition at line 1408 of file ObTypes.h.

#define is_ir_sensor | ( |  | sensor_type | ) | (sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT || sensor_type == OB_SENSOR_IR_RIGHT)

Check sensor_type is IR sensor, true: IR sensor, false: no IR sensor.

Definition at line 1444 of file ObTypes.h.

#define isIRSensor is_ir_sensor

Definition at line 1445 of file ObTypes.h.

#define is_ir_stream | ( |  | stream_type | ) | (stream_type == OB_STREAM_IR || stream_type == OB_STREAM_IR_LEFT || stream_type == OB_STREAM_IR_RIGHT)

Check stream_type is IR stream, true: IR stream, false: no IR stream.

Definition at line 1455 of file ObTypes.h.

#define isIRStream is_ir_stream

Definition at line 1456 of file ObTypes.h.

#define is_ir_frame | ( |  | frame_type | ) | (frame_type == OB_FRAME_IR || frame_type == OB_FRAME_IR_LEFT || frame_type == OB_FRAME_IR_RIGHT)

Check frame_type is IR frame, true: IR frame, false: no IR frame.

Definition at line 1466 of file ObTypes.h.

#define isIRFrame is_ir_frame

Definition at line 1467 of file ObTypes.h.

## Typedef Documentation

typedef struct ContextImpl ob_context

Definition at line 47 of file ObTypes.h.

typedef struct DeviceImpl ob_device

Definition at line 48 of file ObTypes.h.

typedef struct DeviceInfoImpl ob_device_info

Definition at line 49 of file ObTypes.h.

typedef struct DeviceListImpl ob_device_list

Definition at line 50 of file ObTypes.h.

typedef struct CameraParamListImpl ob_camera_param_list

Definition at line 51 of file ObTypes.h.

typedef struct SensorImpl ob_sensor

Definition at line 52 of file ObTypes.h.

typedef struct SensorListImpl ob_sensor_list

Definition at line 53 of file ObTypes.h.

typedef struct StreamProfileImpl ob_stream_profile

Definition at line 54 of file ObTypes.h.

typedef struct StreamProfileListImpl ob_stream_profile_list

Definition at line 55 of file ObTypes.h.

typedef struct CFrameImpl ob_frame

Definition at line 56 of file ObTypes.h.

typedef struct FilterImpl ob_filter

Definition at line 57 of file ObTypes.h.

typedef struct PipelineImpl ob_pipeline

Definition at line 58 of file ObTypes.h.

typedef struct ConfigImpl ob_config

Definition at line 59 of file ObTypes.h.

typedef struct RecorderImpl ob_recorder

Definition at line 60 of file ObTypes.h.

typedef struct PlaybackImpl ob_playback

Definition at line 61 of file ObTypes.h.

typedef struct OBDepthWorkModeListImpl ob_depth_work_mode_list

Definition at line 62 of file ObTypes.h.

typedef enum OBPermissionType ob_permission_type

typedef enum OBStatus ob_status

typedef enum OBLogSeverity ob_log_severity

typedef enum OBLogSeverity DEVICE_LOG_SEVERITY_LEVEL

typedef enum OBLogSeverity OBDeviceLogSeverityLevel

typedef enum OBLogSeverity ob_device_log_severity_level

typedef enum OBExceptionType ob_exception_type

typedef struct ob_error ob_error

The error class exposed by the SDK, users can get detailed error information according to the erro.

typedef enum OBSensorType ob_sensor_type

typedef enum OBStreamType ob_stream_type

typedef enum OBFrameType ob_frame_type

typedef enum OBFormat ob_format

typedef enum OBUpgradeState ob_upgrade_state

typedef enum OBFileTranState ob_file_tran_state

typedef enum OBDataTranState ob_data_tran_state

typedef struct OBDataChunk ob_data_chunk

typedef struct OBIntPropertyRange ob_int_property_range

typedef struct OBFloatPropertyRange ob_float_property_range

typedef struct OBBoolPropertyRange ob_bool_property_range

typedef struct OBCameraIntrinsic ob_camera_intrinsic

typedef struct OBCameraDistortion ob_camera_distortion

typedef struct OBD2CTransform ob_d2c_transform

typedef struct OBCameraParam ob_camera_param

typedef struct OBCameraParam_V0 ob_camera_param_v0

typedef struct OBDERectifyMaskParams OBDERectifyMaskParams_V0

typedef struct MaskFilterConfig_S ob_mask_filter_config

typedef struct MaskFilterConfig_S OBMaskFilterConfig

typedef enum OBAlignMode ob_align_mode

typedef struct OBRect ob_rect

typedef enum OBConvertFormat ob_convert_format

typedef enum OBGyroSampleRate ob_gyro_sample_rate

typedef enum OBGyroSampleRate OBAccelSampleRate

typedef enum OBGyroSampleRate ob_accel_sample_rate

typedef enum OBGyroSampleRate OB_SAMPLE_RATE

typedef enum OBGyroFullScaleRange ob_gyro_full_scale_range

typedef enum OBGyroFullScaleRange OB_GYRO_FULL_SCALE_RANGE

typedef enum OBAccelFullScaleRange ob_accel_full_scale_range

typedef enum OBAccelFullScaleRange OB_ACCEL_FULL_SCALE_RANGE

typedef struct OBAccelValue OBGyroValue

typedef struct OBAccelValue ob_accel_value

typedef struct OBAccelValue ob_gyro_value

typedef uint64_t OBDeviceState

Device state.

Definition at line 624 of file ObTypes.h.

typedef uint64_t ob_device_state

Definition at line 624 of file ObTypes.h.

typedef struct OBDeviceTemperature ob_device_temperature

typedef struct OBDeviceTemperature DEVICE_TEMPERATURE

typedef enum OBDepthCroppingMode ob_depth_cropping_mode

typedef enum OBDepthCroppingMode OB_DEPTH_CROPPING_MODE

typedef enum OBDeviceType ob_device_type

typedef enum OBDeviceType OB_DEVICE_TYPE

typedef enum OBMediaType ob_media_type

typedef enum OBMediaType OB_MEDIA_TYPE

typedef enum OBMediaState ob_media_state

typedef enum OBMediaState OB_MEDIA_STATE_EM

typedef enum OBDepthPrecisionLevel ob_depth_precision_level

typedef enum OBDepthPrecisionLevel OB_DEPTH_PRECISION_LEVEL

typedef enum OBTofFilterRange ob_tof_filter_range

typedef enum OBTofFilterRange TOF_FILTER_RANGE

typedef struct OBPoint ob_point

typedef struct OBColorPoint ob_color_point

typedef enum OBCompressionMode ob_compression_mode

typedef enum OBCompressionMode OB_COMPRESSION_MODE

typedef struct OBCompressionParams ob_compression_params

typedef struct OBCompressionParams OB_COMPRESSION_PARAMS

typedef struct OBTofExposureThresholdControl ob_tof_exposure_threshold_control

typedef struct OBTofExposureThresholdControl TOF_EXPOSURE_THRESHOLD_CONTROL

typedef enum OBSyncMode ob_sync_mode

typedef enum OBSyncMode OB_SYNC_MODE

typedef struct OBDeviceSyncConfig ob_device_sync_config

typedef struct OBDeviceSyncConfig OB_DEVICE_SYNC_CONFIG

typedef struct OBDepthWorkMode ob_depth_work_mode

typedef struct OBProtocolVersion ob_protocol_version

typedef enum OB_CMD_VERSION OBCmdVersion

typedef enum OB_CMD_VERSION ob_cmd_version

typedef struct OBDataBundle OBDataBundle

Internal api, publish future. Description: Data type match OBCmdVersion of one propertyId

1. propertyId has multiple OBCmdVersion; different OBCmdVersion of this propertyId has different data type; propertyId && OBCmdVersion match only one data type.
2. itemCount is the number of data type contain in data bytes.
3. C language and C++ is difference.

C language: data's type is an uint8_t pointer, user parse data to destionation type. itemTypeSize == 1，dataSize == itemCount；

C++: data's type is the propertyId && OBCmdVersion's data type. itemTypeSize = sizeof(T)，itemCount = dataSize / itemTypeSize;

typedef struct OBDataBundle ob_data_bundle

typedef struct OBDeviceIpAddrConfig ob_device_ip_addr_config

typedef struct OBDeviceIpAddrConfig DEVICE_IP_ADDR_CONFIG

typedef enum OBCommunicationType ob_communication_type

typedef enum OBCommunicationType OB_COMMUNICATION_TYPE

typedef enum OBUSBPowerState ob_usb_power_state

typedef enum OBDCPowerState ob_dc_power_state

typedef enum ob_rotate_degree_type OBRotateDegreeType

typedef enum ob_power_line_freq_mode OBPowerLineFreqMode

typedef enum OB_FRAME_AGGREGATE_OUTPUT_MODE OBFrameAggregateOutputMode

typedef enum OB_FRAME_AGGREGATE_OUTPUT_MODE ob_frame_aggregate_output_mode

typedef void(* ob_file_send_callback) (ob_file_tran_state state, const char *message, uint8_t percent, void *user_data)

file transfer callback

Parameters

  state | Transmission status
  message | Transfer status information
  state | Transfer progress percentage
  user_data | user-defined data

Definition at line 1304 of file ObTypes.h.

typedef void(* ob_device_upgrade_callback) (ob_upgrade_state state, const char *message, uint8_t percent, void *user_data)

Firmware upgrade callback.

Parameters

  state | upgrade status
  message | upgrade status information
  state | upgrade progress percentage
  user_data | user-defined data 固件升级回调
  state | 升级状态
  message | 升级状态信息
  state | 升级进度百分比
  user_data | 用户自定义数据

Definition at line 1320 of file ObTypes.h.

typedef void(* ob_device_state_callback) (ob_device_state state, const char *message, void *user_data)

device status callback

Parameters

  state | device status
  message | Device Status Information
  user_data | user-defined data

Definition at line 1335 of file ObTypes.h.

typedef void(* ob_set_data_callback) (ob_data_tran_state state, uint8_t percent, void *user_data)

Callback for writing data.

Parameters

  state | write data status
  percent | Write data percentage
  user_data | user-defined data

Definition at line 1350 of file ObTypes.h.

typedef void(* ob_get_data_callback) (ob_data_tran_state state, ob_data_chunk *dataChunk, void *user_data)

read data callback

Parameters

  state | read data status
  dataChunk | read the returned data block
  user_data | user-defined data

Definition at line 1365 of file ObTypes.h.

typedef void(* ob_media_state_callback) (ob_media_state state, void *user_data)

Media status callbacks (recording and playback)

Parameters

  state | condition
  user_data | user-defined data

Definition at line 1378 of file ObTypes.h.

typedef void(* ob_device_changed_callback) (ob_device_list *removed, ob_device_list *added, void *user_data)

Device change (up and down) callback.

Parameters

  removed | List of deleted (dropped) devices
  added | List of added (online) devices
  user_data | user-defined data

Definition at line 1393 of file ObTypes.h.

typedef void(* ob_frame_callback) (ob_frame *frame, void *user_data)

dataframe callback

Parameters

  frame | Data Frame
  user_data | user-defined data

Definition at line 1406 of file ObTypes.h.

typedef void(* ob_frameset_callback) (ob_frame *frameset, void *user_data)

dataframe collection callback

Parameters

  frameset | collection of dataframes
  user_data | user-defined data

Definition at line 1421 of file ObTypes.h.

typedef 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

Parameters

  buffer | Data that needs to be deleted
  context | user-defined data

Definition at line 1434 of file ObTypes.h.

## Enumeration Type Documentation

enum OBPermissionType

the permission type of api or property

Enumerator
OB_PERMISSION_DENY | no permission
OB_PERMISSION_READ | can read
OB_PERMISSION_WRITE | can write
OB_PERMISSION_READ_WRITE | can read and write

Definition at line 71 of file ObTypes.h.

enum OBStatus

error code

Enumerator
OB_STATUS_OK | status ok
OB_STATUS_ERROR | status error

Definition at line 86 of file ObTypes.h.

enum OBLogSeverity

log level, the higher the level, the stronger the log filter

Enumerator
OB_LOG_SEVERITY_DEBUG | debug
OB_LOG_SEVERITY_INFO | information
OB_LOG_SEVERITY_WARN | warning
OB_LOG_SEVERITY_ERROR | error
OB_LOG_SEVERITY_FATAL | fatal error
OB_LOG_SEVERITY_NONE | none (close LOG)

Definition at line 99 of file ObTypes.h.

enum OBExceptionType

The exception types in the SDK, through the exception type, you can easily determine the specific type of error. For detailed error API interface functions and error logs, please refer to the information of ob_error.

Enumerator
OB_EXCEPTION_TYPE_UNKNOWN | Unknown error, an error not clearly defined by the SDK
OB_EXCEPTION_TYPE_CAMERA_DISCONNECTED | SDK device disconnection exception
OB_EXCEPTION_TYPE_PLATFORM | An error in the SDK adaptation platform layer means an error in the implementation of a specific system platform
OB_EXCEPTION_TYPE_INVALID_VALUE | Invalid parameter type exception, need to check input parameter
OB_EXCEPTION_TYPE_WRONG_API_CALL_SEQUENCE | Exception caused by API version mismatch
OB_EXCEPTION_TYPE_NOT_IMPLEMENTED | SDK and firmware have not yet implemented functions
OB_EXCEPTION_TYPE_IO | SDK access IO exception error
OB_EXCEPTION_TYPE_MEMORY | SDK access and use memory errors, which means that the frame fails to allocate memory
OB_EXCEPTION_TYPE_UNSUPPORTED_OPERATION | Unsupported operation type error by SDK or RGBD device

Definition at line 118 of file ObTypes.h.

enum OBSensorType

Enumeration value describing the sensor type.

Enumerator
OB_SENSOR_UNKNOWN | Unknown type sensor
OB_SENSOR_IR | IR
OB_SENSOR_COLOR | Color
OB_SENSOR_DEPTH | Depth
OB_SENSOR_ACCEL | Accel
OB_SENSOR_GYRO | Gyro
OB_SENSOR_IR_LEFT | left IR
OB_SENSOR_IR_RIGHT | Right IR

Definition at line 159 of file ObTypes.h.

enum OBStreamType

Enumeration value describing the type of data stream.

Enumerator
OB_STREAM_UNKNOWN | Unknown type stream
OB_STREAM_VIDEO | Video stream (infrared, color, depth streams are all video streams)
OB_STREAM_IR | IR stream
OB_STREAM_COLOR | color stream
OB_STREAM_DEPTH | depth stream
OB_STREAM_ACCEL | Accelerometer data stream
OB_STREAM_GYRO | Gyroscope data stream
OB_STREAM_IR_LEFT | Left IR stream
OB_STREAM_IR_RIGHT | Right IR stream

Definition at line 178 of file ObTypes.h.

enum OBFrameType

Describe the Frame type enumeration value.

Enumerator
OB_FRAME_UNKNOWN | Unknown type frame
OB_FRAME_VIDEO | Describes the Frame type enumeration value
OB_FRAME_IR | IR frame
OB_FRAME_COLOR | color frame
OB_FRAME_DEPTH | depth frame
OB_FRAME_ACCEL | Accelerometer data frame
OB_FRAME_SET | Frame collection (internally contains a variety of data frames)
OB_FRAME_POINTS | point cloud frame
OB_FRAME_GYRO | Gyroscope data frame
OB_FRAME_IR_LEFT | Left IR frame
OB_FRAME_IR_RIGHT | Right IR frame

Definition at line 199 of file ObTypes.h.

enum OBFormat

Enumeration value describing the pixel format.

Enumerator
OB_FORMAT_YUYV | YUYV format
OB_FORMAT_YUY2 | YUY2 format (the actual format is the same as YUYV)
OB_FORMAT_UYVY | UYVY format
OB_FORMAT_NV12 | NV12 format
OB_FORMAT_NV21 | NV21 format
OB_FORMAT_MJPG | MJPEG encoding format
OB_FORMAT_H264 | H.264 encoding format
OB_FORMAT_H265 | H.265 encoding format
OB_FORMAT_Y16 | Y16 format, single channel 16bit depth
OB_FORMAT_Y8 | Y8 format, single channel 8bit depth
OB_FORMAT_Y10 | Y10 format, single channel 10bit depth (SDK will unpack into Y16 by default)
OB_FORMAT_Y11 | Y11 format, single channel 11bit depth (SDK will unpack into Y16 by default)
OB_FORMAT_Y12 | Y12 format, single channel 12bit depth (SDK will unpack into Y16 by default)
OB_FORMAT_GRAY | GRAY (the actual format is the same as YUYV)
OB_FORMAT_HEVC | HEVC encoding format (the actual format is the same as H265)
OB_FORMAT_I420 | I420 format
OB_FORMAT_ACCEL | Acceleration data format
OB_FORMAT_GYRO | Gyroscope Data Format
OB_FORMAT_POINT | xyz 3D coordinate point format
OB_FORMAT_RGB_POINT | xyz 3D coordinate point format with RGB information
OB_FORMAT_RLE | RLE pressure test format (SDK will be unpacked into Y16 by default)
OB_FORMAT_RGB | RGB format (actual BRG888)
OB_FORMAT_BGR | BGR format (actual BRG888)
OB_FORMAT_Y14 | Y14 format, single channel 14bit depth (SDK will unpack into Y16 by default)
OB_FORMAT_BGRA | BGRA
OB_FORMAT_COMPRESSED | compressed format
OB_FORMAT_UNKNOWN | unknown format

Definition at line 221 of file ObTypes.h.

enum OBUpgradeState

Firmware upgrade status.

Enumerator
STAT_FILE_TRANSFER | file transfer
STAT_DONE | update completed
STAT_IN_PROGRESS | upgrade in process
STAT_START | start the upgrade
STAT_VERIFY_IMAGE | Image file verification
ERR_VERIFY | Verification failed
ERR_PROGRAM | Program execution failed
ERR_ERASE | Flash parameter failed
ERR_FLASH_TYPE | Flash type error
ERR_IMAGE_SIZE | Image file size error
ERR_OTHER | other errors
ERR_DDR | DDR access error
ERR_TIMEOUT | timeout error

Definition at line 266 of file ObTypes.h.

enum OBFileTranState

file transfer status

Enumerator
FILE_TRAN_STAT_TRANSFER | file transfer
FILE_TRAN_STAT_DONE | file transfer succeeded
FILE_TRAN_STAT_PREPAR | preparing
FILE_TRAN_ERR_DDR | DDR access failed
FILE_TRAN_ERR_NOT_ENOUGH_SPACE | Insufficient target space error
FILE_TRAN_ERR_PATH_NOT_WRITABLE | Destination path is not writable
FILE_TRAN_ERR_MD5_ERROR | MD5 checksum error
FILE_TRAN_ERR_WRITE_FLASH_ERROR | write flash error
FILE_TRAN_ERR_TIMEOUT | timeout error

Definition at line 289 of file ObTypes.h.

enum OBDataTranState

data transfer status

Enumerator
DATA_TRAN_STAT_STOPPED | data transfer stoped
DATA_TRAN_STAT_DONE | data transfer completed
DATA_TRAN_STAT_VERIFYING | data verifying
DATA_TRAN_STAT_TRANSFERRING | data transferring
DATA_TRAN_ERR_BUSY | Transmission is busy
DATA_TRAN_ERR_UNSUPPORTED | not support
DATA_TRAN_ERR_TRAN_FAILED | transfer failed
DATA_TRAN_ERR_VERIFY_FAILED | Test failed
DATA_TRAN_ERR_OTHER | other errors

Definition at line 309 of file ObTypes.h.

enum OBAlignMode

alignment mode

Enumerator
ALIGN_DISABLE | turn off alignment
ALIGN_D2C_HW_MODE | Hardware D2C alignment mode
ALIGN_D2C_SW_MODE | Software D2C alignment mode

Definition at line 493 of file ObTypes.h.

enum OBConvertFormat

format conversion type enumeration

Enumerator
FORMAT_YUYV_TO_RGB888 | YUYV to RGB888
FORMAT_I420_TO_RGB888 | I420 to RGB888
FORMAT_NV21_TO_RGB888 | NV21 to RGB888
FORMAT_NV12_TO_RGB888 | NV12 to RGB888
FORMAT_MJPG_TO_I420 | MJPG to I420
FORMAT_RGB888_TO_BGR | RGB888 to BGR
FORMAT_MJPG_TO_NV21 | MJPG to NV21
FORMAT_MJPG_TO_RGB888 | MJPG to RGB888
FORMAT_MJPG_TO_BGR888 | MJPG to BGR888
FORMAT_MJPG_TO_BGRA | MJPG to BGRA
FORMAT_UYVY_TO_RGB888 | UYVY to RGB888
FORMAT_BGR_TO_RGB | BGR to RGB

Definition at line 521 of file ObTypes.h.

enum OBGyroSampleRate

Enumeration of IMU sample rate values ​​(gyroscope or accelerometer)

Enumerator
OB_SAMPLE_RATE_1_5625_HZ | 1.5625Hz
OB_SAMPLE_RATE_3_125_HZ | 3.125Hz
OB_SAMPLE_RATE_6_25_HZ | 6.25Hz
OB_SAMPLE_RATE_12_5_HZ | 12.5Hz
OB_SAMPLE_RATE_25_HZ | 25Hz
OB_SAMPLE_RATE_50_HZ | 50Hz
OB_SAMPLE_RATE_100_HZ | 100Hz
OB_SAMPLE_RATE_200_HZ | 200Hz
OB_SAMPLE_RATE_500_HZ | 500Hz
OB_SAMPLE_RATE_1_KHZ | 1KHz
OB_SAMPLE_RATE_2_KHZ | 2KHz
OB_SAMPLE_RATE_4_KHZ | 4KHz
OB_SAMPLE_RATE_8_KHZ | 8KHz
OB_SAMPLE_RATE_16_KHZ | 16KHz
OB_SAMPLE_RATE_32_KHZ | 32Hz

Definition at line 551 of file ObTypes.h.

enum OBGyroFullScaleRange

Enumeration of gyroscope ranges.

Enumerator
OB_GYRO_FS_16dps | 16 degrees per second
OB_GYRO_FS_31dps | 31 degrees per second
OB_GYRO_FS_62dps | 62 degrees per second
OB_GYRO_FS_125dps | 125 degrees per second
OB_GYRO_FS_250dps | 250 degrees per second
OB_GYRO_FS_500dps | 500 degrees per second
OB_GYRO_FS_1000dps | 1000 degrees per second
OB_GYRO_FS_2000dps | 2000 degrees per second

Definition at line 577 of file ObTypes.h.

enum OBAccelFullScaleRange

Accelerometer range enumeration.

Enumerator
OB_ACCEL_FS_2g | 1x the acceleration of gravity
OB_ACCEL_FS_4g | 4x the acceleration of gravity
OB_ACCEL_FS_8g | 8x the acceleration of gravity
OB_ACCEL_FS_16g | 16x the acceleration of gravity

Definition at line 596 of file ObTypes.h.

enum OBDepthCroppingMode

Depth crop mode enumeration.

Enumerator
DEPTH_CROPPING_MODE_AUTO | automatic mode
DEPTH_CROPPING_MODE_CLOSE | close crop
DEPTH_CROPPING_MODE_OPEN | open crop

Definition at line 654 of file ObTypes.h.

enum OBDeviceType

device type enumeration

Enumerator
OB_STRUCTURED_LIGHT_MONOCULAR_CAMERA | Monocular structured light camera
OB_STRUCTURED_LIGHT_BINOCULAR_CAMERA | Binocular structured light camera
OB_TOF_CAMERA | TOF camera

Definition at line 668 of file ObTypes.h.

enum OBMediaType

record playback of the type of interest

Enumerator
OB_MEDIA_COLOR_STREAM | color stream
OB_MEDIA_DEPTH_STREAM | depth stream
OB_MEDIA_IR_STREAM | IR stream
OB_MEDIA_GYRO_STREAM | gyro stream
OB_MEDIA_ACCEL_STREAM | accel stream
OB_MEDIA_CAMERA_PARAM | camera parameter
OB_MEDIA_DEVICE_INFO | device information
OB_MEDIA_STREAM_INFO | stream information
OB_MEDIA_IR_LEFT_STREAM | Left IR stream
OB_MEDIA_IR_RIGHT_STREAM | Right Left IR stream
OB_MEDIA_ALL | All media data types

Definition at line 682 of file ObTypes.h.

enum OBMediaState

Record playback status.

Enumerator
OB_MEDIA_BEGIN | begin
OB_MEDIA_PAUSE | pause
OB_MEDIA_RESUME | resume
OB_MEDIA_END | end

Definition at line 707 of file ObTypes.h.

enum OBDepthPrecisionLevel

depth accuracy class

Attention
  The depth accuracy level does not completely determine the depth unit and real accuracy, and the influence of the data packaging format needs to be considered. The specific unit can be obtained through getValueScale() of DepthFrame

Enumerator
OB_PRECISION_1MM | 1mm
OB_PRECISION_0MM8 | 0.8mm
OB_PRECISION_0MM4 | 0.4mm
OB_PRECISION_0MM1 | 0.1mm
OB_PRECISION_0MM2 | 0.2mm
OB_PRECISION_COUNT |

Definition at line 725 of file ObTypes.h.

enum OBTofFilterRange

tof filter scene range

Enumerator
OB_TOF_FILTER_RANGE_CLOSE | close range
OB_TOF_FILTER_RANGE_MIDDLE | middle range
OB_TOF_FILTER_RANGE_LONG | long range
OB_TOF_FILTER_RANGE_DEBUG | debug range

Definition at line 742 of file ObTypes.h.

enum OBCompressionMode

Enumerator
OB_COMPRESSION_LOSSLESS |
OB_COMPRESSION_LOSSY |

Definition at line 779 of file ObTypes.h.

enum OBSyncMode

Sync mode.

Enumerator
OB_SYNC_MODE_CLOSE | Close synchronize mode. Single device, neither process input trigger signal nor output trigger signal Each Sensor in a single device automatically triggers
OB_SYNC_MODE_STANDALONE | Standalone synchronize mode. Single device, neither process input trigger signal nor output trigger signal Inside single device, RGB as Major sensor: RGB -> IR/Depth/TOF
OB_SYNC_MODE_PRIMARY | Primary synchronize mode. Primary device. Ignore process input trigger signal, only output trigger signal to secondary devices. Inside single device, RGB as Major sensor: RGB -> IR/Depth/TOF
OB_SYNC_MODE_SECONDARY | Secondary synchronize mode. Secondary device. Both process input trigger signal and output trigger signal to other devices. Different sensors in a single devices receive trigger signals respectively：ext trigger -> RGB && ext trigger -> IR/Depth/TOF Attention With the current Gemini 2 device set to this mode, each Sensor receives the first external trigger signal after the stream is turned on and starts timing self-triggering at the set frame rate until the stream is turned off
OB_SYNC_MODE_PRIMARY_MCU_TRIGGER | MCU Primary synchronize mode. Primary device. Ignore process input trigger signal, only output trigger signal to secondary devices. Inside device, MCU is the primary signal source: MCU -> RGB && MCU -> IR/Depth/TOF
OB_SYNC_MODE_PRIMARY_IR_TRIGGER | IR Primary synchronize mode. Primary device. Ignore process input trigger signal, only output trigger signal to secondary devices. Inside device, IR is the primary signal source: IR/Depth/TOF -> RGB
OB_SYNC_MODE_PRIMARY_SOFT_TRIGGER | Software trigger synchronize mode. Host, triggered by software control (receive the upper computer command trigger), at the same time to the trunk output trigger signal Different sensors in a single machine receive trigger signals respectively: soft trigger -> RGB && soft trigger -> IR/Depth/TOF Attention Support product: Gemini2
OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER | Software trigger synchronize mode as secondary device. The slave receives the external trigger signal (the external trigger signal comes from the soft trigger host) and outputs the trigger signal to the external relay. Different sensors in a single machine receive trigger signals respectively：ext trigger -> RGB && ext trigger -> IR/Depth/TOF
OB_SYNC_MODE_UNKNOWN | Unknown type.

Definition at line 808 of file ObTypes.h.

enum OB_CMD_VERSION

Command version associate with property id

Enumerator
OB_CMD_VERSION_V0 | version 1.0
OB_CMD_VERSION_V1 | version 2.0
OB_CMD_VERSION_V2 | version 3.0
OB_CMD_VERSION_V3 | version 4.0
OB_CMD_VERSION_NOVERSION |
OB_CMD_VERSION_INVALID | Invalid version.

Definition at line 1097 of file ObTypes.h.

enum OBCommunicationType

Device communication mode.

Enumerator
OB_COMM_USB | USB.
OB_COMM_NET | Ethernet.

Definition at line 1171 of file ObTypes.h.

enum OBUSBPowerState

USB power status.

Enumerator
OB_USB_POWER_NO_PLUGIN | no plugin
OB_USB_POWER_5V_0A9 | 5V/0.9A
OB_USB_POWER_5V_1A5 | 5V/1.5A
OB_USB_POWER_5V_3A0 | 5V/3.0A

Definition at line 1184 of file ObTypes.h.

enum OBDCPowerState

DC power status.

Enumerator
OB_DC_POWER_NO_PLUGIN | no plugin
OB_DC_POWER_PLUGIN | plugin

Definition at line 1199 of file ObTypes.h.

enum ob_rotate_degree_type

Rotate degree.

Enumerator
OB_ROTATE_DEGREE_0 | Rotate 0.
OB_ROTATE_DEGREE_90 | Rotate 90.
OB_ROTATE_DEGREE_180 | Rotate 180.
OB_ROTATE_DEGREE_270 | Rotate 270.

Definition at line 1212 of file ObTypes.h.

enum ob_power_line_freq_mode

Power line frequency mode，for Color camera anti-flicker configuration.

Enumerator
OB_POWER_LINE_FREQ_MODE_CLOSE | close
OB_POWER_LINE_FREQ_MODE_50HZ | 50Hz
OB_POWER_LINE_FREQ_MODE_60HZ | 60Hz

Definition at line 1227 of file ObTypes.h.

enum OB_FRAME_AGGREGATE_OUTPUT_MODE

Frame aggregate output mode.

Enumerator
OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE | Only FrameSet that contains all types of data frames will be output.
OB_FRAME_AGGREGATE_OUTPUT_COLOR_FRAME_REQUIRE | Frame aggregate output mode. Suitable for Color using H264, H265 and other inter-frame encoding format open stream Attention In this mode, the user may return null when getting a non-Color type data frame from the acquired FrameSet
OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION | FrameSet for any case will be output. Attention In this mode, the user may return null when getting the specified type of data frame from the acquired FrameSet

Definition at line 1241 of file ObTypes.h.