Java API Reference¶
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namespace com::orbbec::obsensor¶
- AccelFrame : public com.orbbec.obsensor.Frame
Acceleration streaming data frame
Public Functions
- inline float[] getAccelData ()
Get acceleration frame data
- Returns
float[3]{x,y,z} returns acceleration frame data
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inline float getTemperature()¶
Get the temperature when the frame is sampled
- Returns
temperature at frame sampling
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enum AccelFullScaleRange¶
Accelerometer range enumeration
Public Functions
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inline AccelFullScaleRange(int value)¶
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inline int value()¶
Get the index corresponding to the accelerometer range
- Returns
index value
Public Members
- FS_2g =(1)
1x the acceleration of gravity
- FS_4g =(2)
4 times the acceleration of gravity
- FS_8g =(3)
8 times the acceleration of gravity
- FS_16g =(4)
16 times the acceleration of gravity
Public Static Functions
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static inline AccelFullScaleRange get(int value)¶
Get the range enumeration value corresponding to the specified index
- Parameters
value – index value
- Returns
Accelerometer range enumeration value
Private Members
- final int mValue
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inline AccelFullScaleRange(int value)¶
- AccelStreamProfile : public com.orbbec.obsensor.StreamProfile
Accelerometer Profile
Public Functions
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inline AccelFullScaleRange getAccelFullScaleRange()¶
Get the range of the accelerometer configuration
- Returns
Accelerometer range AccelFullScaleRange
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inline SampleRate getAccelSampleRate()¶
Get the sampling frequency of the accelerometer stream configuration
- Returns
Accelerometer sampling frequency SampleRate
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inline AccelFullScaleRange getAccelFullScaleRange()¶
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enum AlignMode¶
D2C Status
Public Functions
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inline AlignMode(int value)¶
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inline int value()
Get the index corresponding to the data stream format
- Returns
index value
Public Members
- ALIGN_D2C_DISABLE =(0)
Close D2C
- ALIGN_D2C_HW_ENABLE =(1)
Enable hardware D2C
- ALIGN_D2C_SW_ENABLE =(2)
Enable software D2C
Public Static Functions
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static inline AlignMode get(int value)
Get the data stream format corresponding to the specified index
- Parameters
value – index value
- Returns
data stream format
Private Members
- final int mValue
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inline AlignMode(int value)¶
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class CameraParam¶
Camera parameters
Public Functions
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inline CameraIntrinsic getDepthIntrinsic()¶
Get depth camera internal parameters
- Returns
Returns the depth camera intrinsic parameter CameraIntrinsic
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inline CameraIntrinsic getColorIntrinsic()¶
Get color camera internal parameters
- Returns
Returns the color camera intrinsic parameter CameraIntrinsic
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inline CameraDistortion getDepthDistortion()¶
Get depth camera distortion parameters
- Returns
Returns the depth camera distortion parameter CameraDistortion
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inline CameraDistortion getColorDistortion()¶
Get color camera dewarping parameters
- Returns
Returns the color camera dewarping parameter Distortion
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inline D2CTransform getD2CTransform()¶
Get rotation/transformation matrix
- Returns
Rotation/Transformation matrix D2CTransform
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inline boolean isMirrored()¶
Whether the image frame corresponding to this group of parameters is mirrored
- Returns
Whether the image frame corresponding to this group of parameters is mirrored
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inline CameraIntrinsic getDepthIntrinsic()¶
- CameraParamList : public com.orbbec.obsensor.LobClass
Camera parameter list
Public Functions
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inline int getCameraParamCount()¶
Get the number of camera parameters
- Returns
The number of camera parameters
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inline CameraParam getCameraParam(int index)¶
Obtain camera parameters according to the specified index in the camera parameter list
- Parameters
index – index value
- Returns
Camera parameter CameraParam
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inline void close()¶
resource release
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inline int getCameraParamCount()¶
- ColorFrame : public com.orbbec.obsensor.VideoFrame
Color stream data frame
- Config : public com.orbbec.obsensor.LobClass
Used to configure Pipeline data flow status
Public Functions
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inline Config()¶
Create a new pipeline configuration to configure the resolution and frame rate of the data stream and data stream that needs to be opened through the Pipeline
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inline void enableStream(StreamProfile streamProfile)¶
Start the data stream of the specified configuration
- Parameters
streamProfile – Data flow configurationStreamProfile
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inline void disableStream(StreamType streamType)¶
Close the data stream of the specified configuration, through this interface, you can configure which data stream needs to be closed
- Parameters
streamType – Data stream configurationStreamType
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inline void close()
Release Config object resources
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inline Config()¶
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class DataType¶
Data type base class, used to represent the type of Native structure mapped to Java
Subclassed by com.orbbec.obsensor.datatype.CameraDistortion, com.orbbec.obsensor.datatype.CameraIntrinsic, com.orbbec.obsensor.datatype.D2CTransform, com.orbbec.obsensor.datatype.DeviceTemperature, com.orbbec.obsensor.datatype.ExposureThresholdControl, com.orbbec.obsensor.datatype.MultiDeviceSyncConfig, com.orbbec.obsensor.datatype.OBRect
Public Functions
- abstract int BYTES ()
Get the number of bytes occupied by the Native structure
- Returns
The number of bytes occupied by the Native structure
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inline boolean checkInitialized()¶
Check whether the corresponding Java class is initialized successfully
- Returns
Whether the Java class is initialized, false: failure, true: success
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class DataUtilities¶
data processing tools
Public Static Functions
- static inline byte[] subBytes (byte[] bytes, int offset, int length)
Intercept byte array
- Parameters
bytes – array to be intercepted
offset – start position of interception
length – intercepted length
- Returns
Return the truncated array
- static inline void appendBytes (byte[] src, byte[] dst, int offset, int length)
byte array concatenation
- Parameters
src – array to be concatenated
dst – concatenated array
offset – splicing start position
length – splice length
- static inline byte[] shortToBytes (short s)
Convert short data to byte array
- Parameters
s – data to be converted
- Returns
Converted byte array
- static inline byte[] shortsToBytes (short[] ss)
Convert short array to byte array
- Parameters
ss – array of shorts to convert
- Returns
Converted byte array
- static inline short bytesToShort (byte[] bytes)
Convert byte array to short data
- Parameters
bytes – The byte array to be converted
- Returns
converted short data
- static inline short[] bytesToShorts (byte[] bytes, int count)
Convert byte array to short array
- Parameters
bytes – The byte array to be converted
count – the length of the short array
- Returns
converted array of shorts
- static inline byte[] intToBytes (int i)
Convert int type data to byte array
- Parameters
i – int data to be converted
- Returns
converted byte array
- static inline byte[] intsToBytes (int[] is)
Convert int array to byte array
- Parameters
the – array of ints to convert
- Returns
converted byte array
- static inline int bytesToInt (byte[] bytes)
Convert byte array to int data
- Parameters
bytes – The byte array to be converted
- Returns
converted int type data
- static inline int[] bytesToInts (byte[] bytes, int count)
Convert byte array to int array
- Parameters
bytes – The byte array to be converted
count – the length of the converted int array
- Returns
converted int array
- static inline byte[] floatToBytes (float f)
Convert float data type to byte array
- Parameters
f – float data type to convert
- Returns
converted byte array
- static inline byte[] floatsToBytes (float[] fs)
Convert float array to byte array
- Parameters
fs – array of floats to convert
- Returns
converted byte array
- static inline float bytesToFloat (byte[] bytes)
Convert byte array to float array
- Parameters
bytes – The byte array to be converted
- Returns
the length of the converted float array
- static inline float[] bytesToFloats (byte[] bytes, int count)
Convert byte array to float array
- Parameters
bytes – The byte array to be converted
count – the length of the converted float array
- Returns
converted float array
- static inline byte[] stringToBytes (String s)
Convert String to byte array
- Parameters
s – String to convert
- Returns
converted byte array
- static inline String bytesToString (byte[] bytes)
Convert byte array to String
- Parameters
bytes – The byte array to be converted
- Returns
converted string
- static inline String floatsToString (float[] floats)
Convert float array to string
- Parameters
floats – array of floats to convert
- Returns
converted string
- static inline String intsToString (int[] ints)
int array converted to string
- Parameters
ints – array of ints to convert
- Returns
converted string
- DepthFrame : public com.orbbec.obsensor.VideoFrame
Depth Streaming DataFrame
Public Functions
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inline float getValueScale()¶
Get the value scale of the depth frame, the unit is mm/step, such as valueScale=0.1, the pixel value of a certain coordinate is pixelValue=10000, it means the depth value, value = pixelValue*valueScale = 10000*0.1=1000mm。
- Returns
A scale value of depth frame
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inline float getValueScale()¶
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enum DepthPrecisionLevel¶
depth precision level
The depth precision level does not completely determine the depth unit and real precision, and the influence of the data packaging format needs to be considered. The specific unit can be obtained through getValueScale() of DepthFrame
Public Functions
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inline DepthPrecisionLevel(int value)¶
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inline int value()
Get the index corresponding to the depth precision level
- Returns
index value
Public Members
- OB_PRECISION_1MM =(0)
1mm
- OB_PRECISION_0MM25 =(1)
0.5mm
- OB_PRECISION_0MM5 =(2)
0.25mm
- OB_PRECISION_0MM1 =(3)
0.1mm
- OB_PRECISION_COUNT =(4)
Public Static Functions
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static inline DepthPrecisionLevel get(int value)
Get the depth precision level corresponding to the specified index
- Parameters
value – index value
- Returns
depth precision level
Private Members
- final int mValue
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inline DepthPrecisionLevel(int value)¶
- Device : public com.orbbec.obsensor.LobClass
Expose orbbec device functions
Public Functions
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inline List<Sensor> querySensors()¶
Query the list of sensors contained in the device
- Returns
Sensor list
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inline List<DevicePropertyInfo> getSupportedPropertyList()¶
Get the list of property information supported by the device
- Returns
List of property information supported by the device List<DevicePropertyInfo>
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inline boolean isPropertySupported(DeviceProperty property, PermissionType permissionType)¶
Query whether the device supports setting the specified device property
- Parameters
property – Device property DeviceProperty
permissionType – Required permission type PermissionType
- Returns
true supports, false does not support
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inline void setPropertyValueB(DeviceProperty property, boolean value)¶
Set the value of the boolean type device property
- Parameters
property – device property DeviceProperty
value – Set the value of the device property, boolean type
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inline void setPropertyValueI(DeviceProperty property, int value)¶
Set the value of the int type device property
- Parameters
property – device property DeviceProperty
value – Set the value of the device property, int type
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inline void setPropertyValueF(DeviceProperty property, float value)¶
Set the value of the float type device property
- Parameters
property – device property DeviceProperty
value – set the value of the device property, float type
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inline void setPropertyValueDataType(DeviceProperty property, DataType dataType)¶
Set the data structure of the corresponding device properties
- Parameters
property – device property DeviceProperty
dataType – device property data structure DataType
- Throws
OBException – When there is an error in the encapsulation of the data structure to be set
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inline boolean getPropertyValueB(DeviceProperty property)¶
Get the value of the boolean type device property
- Parameters
property – device property DeviceProperty
- Returns
The value of the device property, boolean type
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inline int getPropertyValueI(DeviceProperty property)¶
Get the value of the int type device property
- Parameters
property – device property DeviceProperty
- Returns
The value of the device property, int type
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inline float getPropertyValueF(DeviceProperty property)¶
Get the value of the float type device property
- Parameters
property – device property DeviceProperty
- Returns
The value of the device property, float type
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inline void getPropertyValueDataType(DeviceProperty property, DataType dataType)¶
Get the data structure of the corresponding device properties
- Parameters
property – device property DeviceProperty
dataType – device property data structure DataType
- Throws
OBException – When there is an error in parsing the obtained data structure
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inline int getMinRangeI(DeviceProperty property)¶
Get the minimum value supported by the int type device property
- Parameters
property – device property DeviceProperty
- Returns
The minimum value supported by the device property, int type
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inline float getMinRangeF(DeviceProperty property)¶
Get the minimum value supported by the float type device property
- Parameters
property – device property DeviceProperty
- Returns
The minimum value supported by the device property, float type
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inline int getMaxRangeI(DeviceProperty property)¶
Get the maximum value supported by the int type device property
- Parameters
property – device property DeviceProperty
- Returns
The maximum value supported by the device property, int type
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inline float getMaxRangeF(DeviceProperty property)¶
Get the maximum value supported by the float type device property
- Parameters
property – device DeviceProperty
- Returns
The maximum value supported by the device property, float type
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inline int getStepI(DeviceProperty property)¶
Get the step value at which the int type device property changes within the supported range
- Parameters
property – device property DeviceProperty
- Returns
The step value that changes within the range supported by the device property, int type
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inline float getStepF(DeviceProperty property)¶
Get the step value at which the float type device property changes within the supported range
- Parameters
property – device property DeviceProperty
- Returns
The step value that changes within the range supported by the device property, float type
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inline boolean getDefaultB(DeviceProperty property)¶
Get the default value of the boolean type device property
- Parameters
property – device property DeviceProperty
- Returns
The default value supported by the device property, boolean type
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inline int getDefaultI(DeviceProperty property)¶
Get the default value of the int type device property
- Parameters
property – device property DeviceProperty
- Returns
The default value supported by the device property, int type
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inline float getDefaultF(DeviceProperty property)¶
Get the default value of the float type device property
- Parameters
property – device property DeviceProperty
- Returns
The default value supported by the device property, float type
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inline DeviceInfo getInfo()¶
Get device information
- Returns
device information DeviceInfo
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inline Sensor getSensor(SensorType type)¶
Get the sensor of the specified type
- Parameters
type – sensor type SensorType
- Returns
sensor Sensor
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inline void upgrade(String fileName, UpgradeCallback callback)¶
Upgrade device firmware
- Parameters
fileName – firmware path
callback – callback during the upgrade process UpgradeCallback
- Throws
OBException – The firmware path is abnormal
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inline void sendFileToDestination(String filePath, String dstPath, FileSendCallback callback)¶
Transfer files to the specified path
- Parameters
filePath – source file path
dstPath – Target path
callback – File transfer callbackFileSendCallback
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inline DeviceTemperature getDeviceTemperature()¶
Get device temperature information
- Returns
temperature information DeviceTemperature
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inline boolean activateAuthorization(String authCode)¶
Activate the device with an authorization code
- Parameters
authCode – Authorization code
- Returns
Whether the activation is successful, the activation succeeds: true, the activation fails: false
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inline void setStateChangeListener(OnStateChangeListener listener)¶
Set device status monitoring
- Parameters
listener – callback when device status changes OnStateChangeListener
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inline void setMultiDeviceSyncConfig(MultiDeviceSyncConfig config)¶
Set up a multi-device sync configuration
- Parameters
config – multidevice sync config MultiDeviceSyncConfig
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inline MultiDeviceSyncConfig getMultiDeviceSyncConfig()¶
Get multi-device sync configuration
- Returns
Return multi-device sync config MultiDeviceSyncConfig
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inline long syncDeviceTime()¶
Synchronize the device time (time to the device, synchronize the local system time to the device)
- Returns
command round trip time delay(round trip time, rtt)
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inline CameraParamList getCalibrationCameraParamList()¶
Get a list of calibrated camera parameters
- Returns
Camera parameter list CameraParamList
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inline void reboot()¶
The device restarts. After the device restarts, the original device resources need to be released, and can be re-acquired after the device is reconnected.
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inline void close()
release device resources
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inline List<Sensor> querySensors()¶
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interface DeviceChangedCallback¶
Callback interface for registering listening device status
Public Functions
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void onDeviceAttach(DeviceList deviceList)¶
Device addition notification and list
- Parameters
deviceList – Add device list DeviceList
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void onDeviceDetach(DeviceList deviceList)¶
Device removal notices and lists
- Parameters
deviceList – Remove device list DeviceList
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void onDeviceAttach(DeviceList deviceList)¶
- DeviceInfo : public com.orbbec.obsensor.LobClass
Device information
Public Functions
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inline String getName()¶
Get device name
- Returns
device name
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inline int getPid()¶
Get device identification number
- Returns
device identification number
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inline int getVid()¶
Get the company identification number of the device
- Returns
company identification number
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inline String getSerialNumber()¶
Get device serial number
- Returns
devise serial number
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inline String getUsbType()¶
Get the USB type the device is connected to
- Returns
The type of USB the device is connected to
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inline String getConnectionType()¶
/if English Get the connection type of device
- Returns
The device connection type /else 获取设备连接类型
- Returns
设备连接类型 /endif
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inline String getFirmwareVersion()¶
Get firmware version number
- Returns
Returns the firmware version number
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inline String getHardwareVersion()¶
Get the version number of the hardware
- Returns
Returns the version number of the hardware
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inline String getSupportedMinSdkVersion()¶
Get the minimum version number of the SDK supported by the device
- Returns
Returns the minimum SDK version number supported by the device
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inline String getAsicName()¶
Get chip type name
- Returns
Returns the chip type name
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inline DeviceType getDeviceType()¶
Get device type
- Returns
Returns the device type DeviceType
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inline void close()
resource release
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inline String getName()¶
- DeviceList : public com.orbbec.obsensor.LobClass
Device list
Public Functions
-
inline int getDeviceCount()¶
Get the number of devices
- Returns
the number of devices
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inline String getName(int index)¶
Get the device serial number according to the specified index in the device list
- Parameters
index – index value
- Returns
devise serial number
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inline int getPid(int index)¶
Obtain the product identification number of the device according to the specified index in the device list
- Parameters
index – index value
- Returns
product identification number
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inline int getVid(int index)¶
Obtain the identification number of the company which the device belongs according to the specified index in the device list
- Parameters
index – index value
- Returns
company identification number
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inline String getUid(int index)¶
Obtain the unique ID of the device according to the specified index in the device list
- Parameters
index – index value
- Returns
Device Unique ID
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inline String getDeviceSerialNumber(int index)¶
Get the device serial number according to the specified index in the device list
- Parameters
index – index value
- Returns
devise serial number
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inline Device getDevice(int index)¶
Get the device object according to the specified index in the device list
- Parameters
index – index value
- Returns
designated device
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inline Device getDeviceBySerialNumber(String serialNum)¶
Create a device, if the device has been acquired and created elsewhere, repeated acquisition will return an error
- Parameters
serialNum – The serial number of the device to be created
- Returns
Returns the created device Device
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inline Device getDeviceByUid(String uid)¶
Create a device, if the device has been acquired and created elsewhere, repeated acquisition will return an error
- Parameters
uid – The uid of the device to create
- Returns
Returns the created device Device
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inline void close()
resource release
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inline int getDeviceCount()¶
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interface DeviceListener¶
SDK device listening interface
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enum DeviceProperty¶
Device Property
Public Members
- OB_PROP_LDP_BOOL =(2)
LDP switch
- OB_PROP_LASER_BOOL =(3)
laser switch
- OB_PROP_LASER_CURRENT_FLOAT =(5)
laser current
- OB_PROP_FLOOD_BOOL =(6)
flood switch
- OB_PROP_DEPTH_MIRROR_BOOL =(14)
depth mirror
- OB_PROP_DEPTH_FLIP_BOOL =(15)
depth flip
- OB_PROP_DEPTH_POSTFILTER_BOOL =(16)
depth post filter
- OB_PROP_DEPTH_HOLEFILTER_BOOL =(17)
depth hole filter
- OB_PROP_IR_MIRROR_BOOL =(18)
IR mirror
- OB_PROP_IR_FLIP_BOOL =(19)
IR flip
- OB_PROP_MIN_DEPTH_INT =(22)
minimum depth threshold
- OB_PROP_MAX_DEPTH_INT =(23)
maximum depth threshold
- OB_PROP_DEPTH_SOFT_FILTER_BOOL =(24)
Software filter switch
- OB_PROP_LDP_STATUS_BOOL =(32)
LDP status
- OB_PROP_DEPTH_MAX_DIFF_INT =(40)
soft filter maxdiff param
- OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT =(41)
soft filter maxSpeckleSize
- OB_PROP_TIMESTAMP_OFFSET_INT =(43)
time stamp adjustment
- OB_PROP_HARDWARE_DISTORTION_SWITCH_BOOL =(61)
Hardware de-distortion switch Rectify
- OB_PROP_FAN_WORK_MODE_INT =(62)
Fan switch mode
- OB_PROP_DEPTH_PRECISION_LEVEL_INT =(75)
The depth precision level may change the depth frame data unit. You need to confirm the setting parameters through the ValueScale interface of DepthFrame. Set parameter reference DepthPrecisionLevel#value() The obtained value can be converted through DepthPrecisionLevel#get(int)
- OB_PROP_TOF_FILTER_RANGE_INT =(76)
tof filter scene range configuration
- OB_PROP_LASER_MODE_INT =(79)
mx6600 laser lighting mode, the firmware only returns 1: IR Drive, 2: Torch at present
- OB_PROP_RECTIFY2_BOOL =(80)
mx6600 brt2r-rectify function switch (brt2r is a special module on mx6600), false: Disable, true: Rectify Enable
- OB_PROP_COLOR_MIRROR_BOOL =(81)
color mirror
- OB_PROP_COLOR_FLIP_BOOL =(82)
color flip
- OB_PROP_INDICATOR_LIGHT_BOOL =(83)
indicator light switch false: Disable, true: Enable
- OB_PROP_DISPARITY_TO_DEPTH_BOOL =(85)
Hardware parallax to depth switch, 0: Turn off the hardware parallax to depth switch, turn on the software parallax to depth switch 1.Turn on the hardware parallax to depth switch, turn off the software parallax to depth switch
- OB_PROP_BRT_BOOL =(86)
BRT function switch (anti-background interference), false: Disable, true: Enable
- OB_PROP_WATCHDOG_BOOL =(87)
Watchdog function switch, false: Disable, true: Enable
- OB_PROP_EXTERNAL_SIGNAL_RESET_BOOL =(88)
External signal triggers restart function switch, false: Disable, true: Enable
- OB_PROP_HEARTBEAT_BOOL =(89)
Heartbeat monitoring function switch, false: Disable, true: Enable
- OB_PROP_DEPTH_CROPPING_MODE_INT =(90)
Depth cropping mode device: OB_DEPTH_CROPPING_MODE_EM (currently only suitable for Longquan Sword)
- OB_PROP_D2C_PREPROCESS_BOOL =(91)
D2C preprocessing switch (such as RGB cropping), false: off, true: on
- OB_PROP_RGB_CUSTOM_CROP_BOOL =(94)
custom RGB cropping switch, 0 is off, 1 is on custom cropping, and the ROI cropping area is issued
- OB_PROP_DEVICE_WORK_MODE_INT =(95)
Device operating mode (power consumption)
- OB_STRUCT_DEVICE_TEMPERATURE =(1003)
Device temperature
- OB_STRUCT_TOF_EXPOSURE_THRESHOLD_CONTROL =(1024)
TOF exposure threshold range
- OB_STRUCT_MULTI_DEVICE_SYNC_CONFIG =(1038)
Multi-device synchronization mode and parameter configuration
- OB_PROP_COLOR_AUTO_EXPOSURE_BOOL =(2000)
Color camera auto exposure
- OB_PROP_COLOR_EXPOSURE_INT =(2001)
Color camera exposure adjustment
- OB_PROP_COLOR_GAIN_INT =(2002)
Color camera gain adjustment
- OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL =(2003)
Color camera automatic white balance
- OB_PROP_COLOR_WHITE_BALANCE_INT =(2004)
Color camera white balance adjustment
- OB_PROP_COLOR_BRIGHTNESS_INT =(2005)
Color camera brightness adjustment
- OB_PROP_COLOR_SHARPNESS_INT =(2006)
Color camera sharpness adjustment
- OB_PROP_COLOR_SATURATION_INT =(2008)
Color camera saturation adjustment
- OB_PROP_COLOR_CONTRAST_INT =(2009)
Color camera contrast adjustment
- OB_PROP_COLOR_GAMMA_INT =(2010)
Color camera gamma adjustment
- OB_PROP_COLOR_ROLL_INT =(2011)
Color camera image rotation
- OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT =(2012)
Color camera auto exposure priority
- OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT =(2013)
Color camera brightness compensation
- OB_PROP_COLOR_HUE_INT =(2014)
color camera color tint
- OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT =(2015)
Color camera power line frequency
- OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL =(2016)
Automatic exposure of depth camera (infrared camera will be set synchronously under some models of devices)
- OB_PROP_DEPTH_EXPOSURE_INT =(2017)
Depth camera exposure adjustment (infrared cameras will be set synchronously under some models of devices)
- OB_PROP_DEPTH_GAIN_INT =(2018)
Depth camera gain adjustment (infrared cameras will be set synchronously under some models of devices)
- OB_PROP_IR_AUTO_EXPOSURE_BOOL =(2025)
Infrared camera auto exposure (depth camera will be set synchronously under some models of devices)
- OB_PROP_IR_EXPOSURE_INT =(2026)
Infrared camera exposure adjustment (some models of devices will set the depth camera synchronously)
- OB_PROP_IR_GAIN_INT =(2027)
Infrared camera gain adjustment (the depth camera will be set synchronously under some models of devices)
- OB_PROP_SDK_DEPTH_FRAME_UNPACK_BOOL =(3007)
Depth data unpacking function switch on the SDK side (it will be turned on by default every time the stream is opened, and supports RLE/Y10/Y11/Y12/Y14 format)
Public Static Functions
-
static inline DeviceProperty get(int value)
Get the device properties corresponding to the specified index
- Parameters
value – index value
- Returns
device properties
Private Members
- final int mValue
-
class DevicePropertyInfo¶
Characteristics used to describe each property
Public Functions
-
inline DeviceProperty getProperty()¶
get property
- Returns
return property DeviceProperty
-
inline String getPropertyName()¶
get property name
- Returns
return property name
-
inline PropertyType getPropertyType()¶
get property type
- Returns
returns property type PropertyType
-
inline PermissionType getPermissionType()¶
Get the permission type of the property
- Returns
Returns the attribute’s permission type PermissionType
-
inline DeviceProperty getProperty()¶
-
enum DeviceType¶
Device Type
Public Functions
-
inline DeviceType(int value)¶
-
inline int value()
The index corresponding to the device type
- Returns
index value
Public Members
- OB_STRUCTURED_LIGHT_MONOCULAR_CAMERA =(0)
monocular structured light camera
- OB_STRUCTURED_LIGHT_BINOCULAR_CAMERA =(1)
Binocular structured light camera
- OB_TOF_CAMERA =(2)
tof camera
Public Static Functions
-
static inline DeviceType get(int value)
Get the device type corresponding to the specified index
- Parameters
value – index value
- Returns
device type
Private Members
- final int mValue
-
inline DeviceType(int value)¶
-
interface FileSendCallback¶
File transfer callback class
Public Functions
-
void onCallback(short state, short percent, String msg)¶
file transfer callback
- Parameters
state – current state
msg – status information
percent – current status progress, percentage 0~100
Public Members
-
short FILE_TRAN_STAT_TRANSFER = 2¶
file transfer
-
short FILE_TRAN_STAT_DONE = 1¶
File transfer succeeded
-
short FILE_TRAN_STAT_PREPARE = 0¶
preparing
-
short FILE_TRAN_ERR_DDR = -1¶
DDR access failed
-
short FILE_TRAN_ERR_NOT_ENOUGH_SPACE = -2¶
Insufficient target space error
-
short FILE_TRAN_ERR_PATH_NOT_WRITABLE = -3¶
Destination path is not writable
-
short FILE_TRAN_ERR_MD5_ERROR = -4¶
MD5 checksum error
-
short FILE_TRAN_ERR_WRITE_FLASH_ERROR = -5¶
write flash error
-
short FILE_TRAN_ERR_TIMEOUT = -6¶
timeout error
-
void onCallback(short state, short percent, String msg)¶
- Filter : public com.orbbec.obsensor.LobClass , public Cloneable
Base class for all filters
Subclassed by com.orbbec.obsensor.FormatConvertFilter, com.orbbec.obsensor.PointCloudFilter
Public Functions
-
inline Frame process(Frame frame)¶
Process the data frame to get the format converted data frame
- Parameters
frame – The data frame to be converted
- Returns
Formatted Frame
-
inline void reset()¶
Filter reset, after reset, you can reset the format of the filter for the processing of another format
-
inline void setCallback(FilterCallback callback)¶
Filter sets the processing result callback function (asynchronous callback interface)
- Parameters
callback – filter callback
-
inline void pushFrame(Frame frame)¶
filter pushes frame_set into the pending buffer (asynchronous callback interface)
- Parameters
frame – data frame
-
inline void close()
release data frame resources
-
inline Frame process(Frame frame)¶
-
interface FilterCallback¶
Filter callback
Public Functions
-
void onFrame(Frame frame)¶
dataframe callback
- Parameters
frame – dataframe
-
void onFrame(Frame frame)¶
-
enum Format¶
Enumeration value describing pixel format
Public Functions
-
inline Format(int value)¶
-
inline int value()
Get the index corresponding to the data stream format
- Returns
index value
Public Members
- YUYV =(0)
YUYV format
- YUY2 =(1)
YUY2 format (the actual format is the same as YUYV)
- UYVY =(2)
UYVY format
- NV12 =(3)
NV12 format
- NV21 =(4)
NV21 format
- MJPG =(5)
MJPG encoding format
- H264 =(6)
H.264 encoding format
- H265 =(7)
H.265 encoding format
- Y16 =(8)
Y16 format, single channel 16bit depth
- Y8 =(9)
Y8 format, single channel 8bit depth
- Y10 =(10)
Y10 format, single channel 10bit depth (SDK will unpack into Y16 by default)
- Y11 =(11)
Y11 format, single channel 11bit depth (SDK will unpack into Y16 by default)
- Y12 =(12)
Y12 format, single channel 12bit depth (SDK will unpack into Y16 by default)
- GRAY =(13)
GRAY (the actual format is the same as YUYV)
- HEVC =(14)
HEVC encoding format (the actual format is the same as H265)
- I420 =(15)
I420 format
- ACCEL =(16)
Accelerometer data format
- GYRO =(17)
Gyroscope data format
- POINT =(19)
xyz 3D coordinate point format
- RGB_POINT =(20)
xyz 3D coordinate point format with RGB information
- RLE =(21)
RLE pressure test format (SDK will be unpacked into Y16 by default)
- RGB888 =(22)
RGB888 format
- BGR =(23)
BGR format (actual BRG888)
- UNKNOWN =(0xff)
unknown format
Public Static Functions
-
static inline Format get(int value)
Get the data stream format corresponding to the specified index
- Parameters
value – index value
- Returns
data stream format
Private Members
- final int mValue
-
inline Format(int value)¶
- FormatConvertFilter : public com.orbbec.obsensor.Filter
FormatConvertFilter For data stream format conversion
Public Functions
-
inline FormatConvertFilter()¶
Create a format conversion filter
-
inline void setFormatType(FormatConvertType type)¶
Set the data stream conversion format
- Parameters
type – Data Stream Transformation Format
-
inline FormatConvertFilter()¶
-
enum FormatConvertType¶
for data stream format conversion
Public Functions
-
inline FormatConvertType(int value)¶
-
inline int value()
Get the data stream conversion format corresponding to a specific index value
- Returns
index value
Public Members
- FORMAT_YUYV_TO_RGB888 =(0)
YUYV to RGB888
- FORMAT_I420_TO_RGB888 =(1)
I420 to RGB888
- FORMAT_NV21_TO_RGB888 =(2)
NV21 to RGB888
- FORMAT_NV12_TO_RGB888 =(3)
NV12 to RGB888
- FORMAT_MJPEG_TO_I420 =(4)
MJPG to I420
- FORMAT_RGB888_TO_BGR =(5)
RGB888 to BGR
- FORMAT_MJPEG_TO_NV21 =(6)
MJPG to NV21
- FORMAT_MJPEG_TO_RGB888 =(7)
MJPG to RG888
Public Static Functions
-
static inline FormatConvertType get(int value)
Get the data stream conversion format corresponding to the specified index
- Parameters
value – index value
- Returns
data stream format
Private Members
- final int mValue
-
inline FormatConvertType(int value)¶
- Frame : public com.orbbec.obsensor.LobClass , public Cloneable
The data frame in the data stream is the base class of ColorFrame, DepthFrame, IRFrame, VideoFrame, FrameSet
Subclassed by com.orbbec.obsensor.AccelFrame, com.orbbec.obsensor.FrameSet, com.orbbec.obsensor.GyroFrame, com.orbbec.obsensor.PointFrame, com.orbbec.obsensor.VideoFrame
Public Functions
-
inline long getSystemTimeStamp()¶
Get the system timestamp of the data frame, unit: ms
- Returns
system timestamp
-
inline long getTimeStamp()¶
Get the device timestamp of the data frame, unit: ms
- Returns
device timestamp
-
inline long getTimeStampUs()¶
Get the device timestamp of the data frame, unit: us
- Returns
device timestamp
-
inline FrameType getStreamType()¶
Get the data stream type to which the data frame belongs
- Returns
Data stream type FrameType
-
inline Format getFormat()¶
Get the data stream format to which the data frame belongs
- Returns
Data Stream Format
-
inline long getFrameIndex()¶
Get the sequence number of the data frame in the data stream
- Returns
data frame number
-
inline int getDataSize()¶
Get the data size of the data frame
- Returns
data size
- inline int getData (byte[] buf)
Get the data of the dataframe
- Parameters
buf – byte array to fill frame data
- Returns
success, return the size of data had fill to buf; failed, return -1;
-
inline int getData(ByteBuffer directByteBuffer)¶
Get the data of the dataFrame
- Parameters
directByteBuffer – ByteBuffer to fill frame data.
- Returns
success, return the size of data had fill to buf; failed, return -1;
-
inline int getMetadataSize()¶
Get the metadata size of the frame
- Returns
Returns the metadata size of the frame
- inline void getMetadata (byte[] metadata)
Get the metadata of the frame
- Parameters
metadata – frame metadata
-
inline void close()
release data frame resources
-
inline long getSystemTimeStamp()¶
-
interface FrameCallback¶
data frame callback interface
- FrameSet : public com.orbbec.obsensor.Frame
Data frame set, including 0~N data frames
Public Functions
-
inline int getFrameCount()¶
Get the number of frames in a dataframe set
- Returns
number of frames
-
inline DepthFrame getDepthFrame()¶
get depth data frame
- Returns
depth data frame DepthFrame
-
inline ColorFrame getColorFrame()¶
Get color data frame
- Returns
color data frame ColorFrame
-
inline PointFrame getPointFrame()¶
Get point cloud data from a collection of frames
- Returns
Return point cloud frame PointFrame
-
inline void close()
release dataframe set resources
-
inline int getFrameCount()¶
-
interface FrameSetCallback¶
frameset callback interface
-
enum FrameType¶
Describe the Frame type enumeration value
Public Functions
-
inline FrameType(int value)¶
-
inline int value()
Get the index corresponding to the data frame type
- Returns
index value
Public Members
- VIDEO =(0)
Video frames (infrared, color, depth frames are all video frames)
- IR =(1)
Infrared frame
- COLOR =(2)
color frame
- DEPTH =(3)
depth frame
- ACCEL =(4)
Accelerometer data frame
- FRAME_SET =(5)
Frame collection (internally contains a variety of data frames)
- POINTS =(6)
point cloud frame
- GYRO =(7)
Gyroscope data frame
Public Static Functions
-
static inline FrameType get(int value)
Get the data frame type corresponding to the specified index
- Parameters
value – index value
- Returns
data frame type
Private Members
- final int mValue
-
inline FrameType(int value)¶
- GyroFrame : public com.orbbec.obsensor.Frame
Gyroscope data frame
Public Functions
- inline float[] getGyroData ()
Get gyroscope data
- Returns
float[3]{x,y,z} returns acceleration data
-
inline float getTemperature()
Get the temperature when the frame is sampled
- Returns
temperature at frame sampling
-
enum GyroFullScaleRange¶
Enumeration of gyroscope ranges
Public Functions
-
inline GyroFullScaleRange(int value)¶
-
inline int value()
Get the index corresponding to the gyro range
- Returns
index value
Public Members
- FS_16dps =(1)
16 degrees per second
- FS_31dps =(2)
31 degrees per second
- FS_62dps =(3)
62 degrees per second
- FS_125dps =(4)
125 degrees per second
- FS_245dps =(5)
245 degrees per second
- FS_250dps =(6)
250 degrees per second
- FS_500dps =(7)
500 degrees per second
- FS_1000dps =(8)
1000 degrees per second
- FS_2000dps =(9)
2000 degrees per second
Public Static Functions
-
static inline GyroFullScaleRange get(int value)
Get the range enumeration value corresponding to the specified index of the gyroscope
- Parameters
value – index value
- Returns
Gyroscope range enumeration
Private Members
- final int mValue
-
inline GyroFullScaleRange(int value)¶
- GyroStreamProfile : public com.orbbec.obsensor.StreamProfile
Gyro stream profile
Public Functions
-
inline GyroFullScaleRange getGyroFullScaleRange()¶
Get the range of the gyroscope configuration
- Returns
Gyroscope range GyroFullScaleRange
-
inline SampleRate getGyroSampleRate()¶
Get the data sampling rate of the gyroscope configuration
- Returns
Gyroscope data sample rate SampleRate
-
inline GyroFullScaleRange getGyroFullScaleRange()¶
- IRFrame : public com.orbbec.obsensor.VideoFrame
IR frame
-
class LobClass : public AutoCloseable¶
SDK base class, loading core SDK Library
Subclassed by com.orbbec.obsensor.CameraParamList, com.orbbec.obsensor.Config, com.orbbec.obsensor.Device, com.orbbec.obsensor.DeviceInfo, com.orbbec.obsensor.DeviceList, com.orbbec.obsensor.Filter, com.orbbec.obsensor.Frame, com.orbbec.obsensor.OBContext, com.orbbec.obsensor.Pipeline, com.orbbec.obsensor.Playback, com.orbbec.obsensor.Recorder, com.orbbec.obsensor.Sensor, com.orbbec.obsensor.StreamProfile, com.orbbec.obsensor.StreamProfileList
Public Functions
-
inline long getHandle()¶
Get the current class handle
- Returns
handle
-
inline long getHandle()¶
-
enum LogSeverity¶
log level, the higher the level, the stronger the log filter
Public Functions
-
inline LogSeverity(int value)¶
-
inline int value()
Get the index corresponding to the log output level
- Returns
index value
Public Members
- DEBUG =(0)
debug
- INFO =(1)
information
- WARN =(2)
warning
- ERROR =(3)
error
- FATAL =(4)
fatal error
- NONE =(5)
None (close LOG)
Public Static Functions
-
static inline LogSeverity get(int value)
Get the log output level corresponding to the specified index
- Parameters
value – index value
- Returns
log output level
Private Members
- final int mValue
-
inline LogSeverity(int value)¶
-
enum MediaState¶
Record playback status
Public Functions
-
inline MediaState(int value)¶
-
inline int value()
Get the index corresponding to the recording and playback status
- Returns
index value
Public Members
- OB_MEDIA_BEGIN =(0)
start
- OB_MEDIA_PAUSE =(1)
pause
- OB_MEDIA_RESUME =(2)
recover
- OB_MEDIA_END =(3)
end
Public Static Functions
-
static inline MediaState get(int value)
Get the recording and playback status corresponding to the specified index
- Parameters
value – index value
- Returns
Record playback status
Private Members
- final int mValue
-
inline MediaState(int value)¶
-
interface MediaStateCallback¶
Playback Status Callback
Public Functions
-
void onState(MediaState state)¶
playback status callback
- Parameters
state – playback status
-
void onState(MediaState state)¶
-
enum MediaType¶
Playback data types
Public Functions
-
inline MediaType(int value)¶
-
inline int value()
Get the index corresponding to the data stream format
- Returns
index value
Public Members
- OB_MEDIA_COLOR_STREAM =(1)
color stream
- OB_MEDIA_DEPTH_STREAM =(2)
depth stream
- OB_MEDIA_IR_STREAM =(4)
IR stream
- OB_MEDIA_GYRO_STREAM =(8)
gyro stream
- OB_MEDIA_ACCEL_STREAM =(16)
accel stream
- OB_MEDIA_CAMERA_PARAM =(32)
camera parameter
- OB_MEDIA_DEVICE_INFO =(64)
device information
- OB_MEDIA_STREAM_INFO =(128)
stream information
- OB_MEDIA_ALL =(OB_MEDIA_COLOR_STREAM.value()| OB_MEDIA_DEPTH_STREAM.value()| OB_MEDIA_IR_STREAM.value()| OB_MEDIA_GYRO_STREAM.value()| OB_MEDIA_ACCEL_STREAM.value()| OB_MEDIA_CAMERA_PARAM.value()| OB_MEDIA_DEVICE_INFO.value()| OB_MEDIA_STREAM_INFO.value())
all types
Public Static Functions
-
static inline MediaType get(int value)
Get the data stream format corresponding to the specified index
- Parameters
value – index value
- Returns
data stream format
Private Members
- final int mValue
-
inline MediaType(int value)¶
- OBContext : public com.orbbec.obsensor.LobClass
Orbbec SDK context, which can perform device monitoring, query, log management and version query
Public Functions
-
inline OBContext(Context context, DeviceChangedCallback callback)¶
Create SDK context, apply for authorization, and enable device listening
- Parameters
context – For Android environment context, it is recommended to use the context of application
callback – Device listening DeviceChangedCallback
-
inline OBContext(Context context, String configPath, DeviceChangedCallback callback)¶
Create SDK context, apply for authorization, and enable device listening
- Parameters
context – For Android environment context, it is recommended to use the context of application
configPath – Profile path
callback – Device listening DeviceChangedCallback
-
inline DeviceList queryDevices()¶
Query device list
- Returns
Device List DeviceList
- inline synchronized void setDevicesChangedCallback (DeviceChangedCallback callback)
Set device plug and unplug listener callback
- Parameters
callback – Device plugging and unplugging monitor DeviceChangedCallback
- inline synchronized void removeDevicesChangedCallback ()
Remove device plug and unplug listener callback
-
inline void enableMultiDeviceSync(long repeatInterval)¶
Start the multi-device synchronization function to synchronize the clock of the created device (the device needs to support this function)
- Parameters
repeatInterval – Timing synchronization time interval (unit ms; if repeatInterval=0, it means that it is only synchronized once, and no longer executed regularly)
-
inline void close()
SDK Context resource release
Public Static Functions
-
static inline void setLoggerSeverity(LogSeverity severity)¶
Setting the level of the global log will affect both the log level output to the console and the log output to the file
- Parameters
severity – Output log levelLogSeverity
-
static inline void setLoggerToConsole(LogSeverity severity)¶
Set log parameters and output to console
- Parameters
severity – Log output level LogSeverity
-
static inline void setLoggerToFile(LogSeverity severity, String fileName)¶
Set log parameters and output to the specified file
- Parameters
severity – Log output level LogSeverity
fileName – file path
-
static inline String getVersionName()¶
Get SDK version name
- Returns
SDK version name
-
static inline int getVersionCode()¶
Get SDK version number
- Returns
SDK version number
-
static inline String getCoreVersionName()¶
Get SDK kernel version name
- Returns
SDK kernel version, major.minor.patch
-
static inline int getCoreVersionCode()¶
Get SDK kernel version number
- Returns
Kernel version number
-
inline OBContext(Context context, DeviceChangedCallback callback)¶
-
class OBException : public RuntimeException¶
Exception thrown by Orbbec sdk
-
enum PermissionType¶
Enumeration used to describe access rights for properties
Public Functions
-
inline PermissionType(int value)¶
-
inline int value()
Get the index value corresponding to a specific property enumeration
- Returns
index value
Public Members
- OB_PERMISSION_DENY =(0)
no access
- OB_PERMISSION_READ =(1)
readable
- OB_PERMISSION_WRITE =(2)
writable
- OB_PERMISSION_READ_WRITE =(3)
can read and write
Public Static Functions
-
static inline PermissionType get(int value)
Get the attribute value corresponding to the specified index, read and write permission type enumeration
- Parameters
value – index value
- Returns
property enumeration
Private Members
- final int mValue
-
inline PermissionType(int value)¶
- Pipeline : public com.orbbec.obsensor.LobClass
pipeline: used to control data, it conflicts with the start method of the Sensor class, and the start method cannot be used to start the data stream at the same time. Additional operations can be extended, such as setting high-level interfaces such as data frame synchronization
Public Functions
-
inline Pipeline(Device device)¶
Use the specified device to create a Pipeline. To create a Pipeline through this interface, you need to create the corresponding device first.
-
inline Pipeline(String playbackFile)¶
Use the playback file to create a pipeline object
- Parameters
playbackFile – The playback file path used to create the pipeline
-
inline void start(Config config)¶
Open the data stream of the specified configuration. If you need to use the configuration in the configuration file to open the stream, pass null to config (if there is no configuration file in the case of config passing null, the first one in the open flow configuration list is used by default to open the stream. )
Note: If the pipeline is created by playback file, it means start playback, at this time, config can pass null
- Parameters
config – pipeline configuration Config
-
inline void start(Config config, FrameSetCallback callback)¶
Open the data stream of the specified configuration, and set the callback of the data frame set. If you need to use the configuration in the configuration file to open the stream, pass null to config (if there is no configuration file in the case of config passing null, the open stream configuration list is used by default. the first to open flow)
Note: If the pipeline is created by the playback file, it means that the playback starts in the callback mode. At this time, config can pass null.
Important: After the callback data frame is used up, FrameSet::close() and Frame::close() must be called to release resources.
- Parameters
config – pipeline configuration Config
callback – Data frame set callback FrameSetCallback
-
inline void stop()¶
stop data stream
-
inline FrameSet waitForFrameSet(long timeoutMilliseconds)¶
Query method to obtain data frame set Important: frameset must be called after the data frame is used, Close() and frame Close() releases resources
- Parameters
timeoutMilliseconds – wait timeout
- Returns
Data frameset FrameSet
-
inline Config getConfig()¶
Get the current pipeline configuration, which is configured by the start method
- Returns
pipeline configuration Config
-
inline void enableFrameSync()¶
Enable frame sync
-
inline void disableFrameSync()¶
disable frame sync
-
inline StreamProfileList getStreamProfileList(SensorType sensorType)¶
Get the dataflow configuration supported by the specified sensor type
- Parameters
sensorType – Sensor TypeSensorType
- Returns
stream profile list StreamProfileList
-
inline void switchConfig(Config config)¶
Dynamically switch the corresponding config configuration
- Parameters
config – pipeline configuration Config
-
inline StreamProfileList getD2CDepthProfileList(StreamProfile colorProfile, AlignMode mode)¶
Returns a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution
- Parameters
colorProfile – Input color sensor resolution StreamProfile
mode – The align mode of D2C AlignMode
- Returns
a configuration list of matching depths
-
inline OBRect getD2CValidArea(int distance)¶
Valid area after getting D2C
- Parameters
distance – Working distance(mm)
- Returns
Returns the area information valid after D2c at the working distance OBRect
-
inline CameraParam getCameraParam()¶
Get the camera parameters after D2C. When the pipeline is created by the playback file, the camera internal parameters of the playback device are obtained
- Returns
Returns the aligned camera internal parameter CameraParam
-
inline void startRecord(String filePath)¶
Start recording
- Parameters
filePath – Recorded file path
-
inline void stopRecord()¶
stop recording
-
inline Playback getPlayback()¶
Get playback object from pipeline
- Returns
Returns the playback object Playback
-
inline void close()
pipeline resource release
-
inline Pipeline(Device device)¶
- Playback : public com.orbbec.obsensor.LobClass
Data Playback
Public Functions
-
inline Playback(String filePath)¶
Create playback
- Parameters
filePath – playback file path
-
inline void start(PlaybackCallback callback, MediaType mediaType)¶
Start playback, playback data is returned from the callback
- Parameters
callback – Callback for playback data PlaybackCallback
mediaType – Type of playback data MediaType
-
inline void stop()
stop playback
-
inline DeviceInfo getDeviceInfo()¶
Get device information
- Returns
returns device information DeviceInfo
-
inline CameraParam getCameraParam()
Get the intrinsic and extrinsic parameter information in the recording file
- Returns
returns internal and external parameter information CameraParam
-
inline void setMediaStateCallback(MediaStateCallback callback)¶
Set media state callback
- Parameters
callback – media state callback
-
inline void close()
Release callback resource
-
inline Playback(String filePath)¶
-
interface PlaybackCallback¶
Data frame playback callback interface
- PointCloudFilter : public com.orbbec.obsensor.Filter
PointCloudFilter used to generate normal point cloud data, RGB point cloud data
Public Functions
-
inline PointCloudFilter()¶
Create point cloud filter
-
inline void setPointFormat(Format format)¶
Set the generated point cloud format
- Parameters
format – point cloud format Format
-
inline void setCameraParam(CameraParam param)¶
PointCloud Filter device camera parameters
- Parameters
param – Camera parameter CameraParam
-
inline void setD2CAlignStatus(boolean isAlign)¶
Set D2C alignment state
- Parameters
isAlign – D2C alignment status, true: aligned, false: not aligned
-
inline PointCloudFilter()¶
- PointFrame : public com.orbbec.obsensor.Frame
Public Functions
- inline void getPointCloudData (float[] data)
Return point cloud frame data
- Parameters
data – Data returned by point cloud frame
-
enum PropertyType¶
Property Type Description
Public Functions
-
inline PropertyType(int value)¶
-
inline int value()
Get the index value corresponding to a specific property enumeration
- Returns
index value
Public Members
- BOOL_PROPERTY =(0)
property of boolean data
- INT_PROPERTY =(1)
property of int data
- FLOAT_PROPERTY =(2)
property of float data
- STRUCT_PROPERTY =(3)
Properties corresponding to the underlying structure type data
Public Static Functions
-
static inline PropertyType get(int value)
Get the property value type enumeration corresponding to the specified index
- Parameters
value – index value
- Returns
property enumeration
Private Members
- final int mValue
-
inline PropertyType(int value)¶
- Recorder : public com.orbbec.obsensor.LobClass
data recorder
Public Functions
-
inline Recorder()¶
Create a recorder
-
inline Recorder(Device device)¶
Create a recorder by specifying a device
- Parameters
device – device Device
-
inline void start(String fileName, boolean async)¶
start recording
- Parameters
fileName – Recorded file name
async – Whether to record asynchronously
-
inline void stop()
Stop recording
-
inline void writeFrame(Frame frame)¶
Write frame data to the recorder
- Parameters
frame – Written frame data Frame
-
inline void close()
release recorder resources
-
inline Recorder()¶
-
enum SampleRate¶
Enumeration of IMU sample rate values (gyroscope or accelerometer)
Public Functions
-
inline SampleRate(int value)¶
-
inline int value()
Get the accelerometer or gyroscope sampling frequency enumeration value
- Returns
index value
Public Members
- ODR_1_5625_HZ =(1)
1.5625Hz
- ODR_3_125_HZ =(2)
3.125Hz
- ODR_6_25_HZ =(3)
6.25Hz
- ODR_12_5_HZ =(4)
12.5Hz
- ODR_25_HZ =(5)
25Hz
- ODR_50_HZ =(6)
50Hz
- ODR_100_HZ =(7)
100Hz
- ODR_200_HZ =(8)
200Hz
- ODR_500_HZ =(9)
500Hz
- ODR_1_KHZ =(10)
1KHz
- ODR_2_KHZ =(11)
2KHz
- ODR_4_KHZ =(12)
4KHz
- ODR_8_KHZ =(13)
8KHz
- ODR_16_KHZ =(14)
16KHz
- ODR_32_KHZ =(15)
32Hz
Public Static Functions
-
static inline SampleRate get(int value)
Get accelerometer or gyroscope sampling frequency enumeration
- Parameters
value – index value
- Returns
Accelerometer or gyroscope sampling frequency enumeration
Private Members
- final int mValue
-
inline SampleRate(int value)¶
- Sensor : public com.orbbec.obsensor.LobClass
Expose orbbec sensor function
Public Functions
-
inline SensorType getType()¶
Get sensor type
- Returns
Sensor Type SensorType
-
inline StreamProfileList getStreamProfileList()¶
Get the data stream configuration information supported by the sensor
- Returns
The list of data stream configuration information supported by the sensor StreamProfileList
-
inline void start(StreamProfile profile, FrameCallback callback)¶
Open the sensor data stream, it cannot be used with the pipeline at the same time. If the configuration in the configuration file is used to open the stream, the profile will pass null (if there is no configuration file when the null is passed, the first configuration in the configuration file list will be used by default. )
Important: After the callback data frame is used up, Frame.close() must be called to release resources.
- Parameters
profile – Data stream configuration StreamProfile
callback – Data callback FrameCallback
-
inline void stop()
turn off sensor data stream
-
inline void switchProfile(StreamProfile profile)¶
Dynamically switch resolutions
- Parameters
profile – resolution that needs to be switched StreamProfile
-
inline void close()
release sensor resources
-
inline SensorType getType()¶
-
enum SensorType¶
Enumeration value describing the sensor type
Public Functions
-
inline SensorType(int value)¶
-
inline int value()
Get the index corresponding to the sensor type
- Returns
index value
Public Members
- UNKNOWN =(0)
Unknown type sensor
- IR =(1)
infrared
- COLOR =(2)
color
- DEPTH =(3)
depth
- ACCEL =(4)
accelerometer
- GYRO =(5)
gyro
Public Static Functions
-
static inline SensorType get(int value)
Get the sensor type corresponding to the specified index
- Parameters
value – index value
- Returns
sensor type
Private Members
- final int mValue
-
inline SensorType(int value)¶
- StreamProfile : public com.orbbec.obsensor.LobClass
Data stream configuration base class
Subclassed by com.orbbec.obsensor.AccelStreamProfile, com.orbbec.obsensor.GyroStreamProfile, com.orbbec.obsensor.VideoStreamProfile
Public Functions
-
inline StreamType getType()
Get data stream type
- Returns
stream type StreamType
-
inline void close()
resources release
-
inline StreamType getType()
- StreamProfileList : public com.orbbec.obsensor.LobClass
stream profile list
Public Functions
-
inline int getStreamProfileCount()¶
get stream profile count
- Returns
stream profile count
-
inline StreamProfile getStreamProfile(int index)¶
Get the configuration according to the specified index in the stream configuration list
- Parameters
index – index value
- Returns
stream configuration StreamProfile
-
inline VideoStreamProfile getVideoStreamProfile(int width, int height, Format format, int fps)¶
Match the corresponding StreamProfile through the passed parameters, if there are multiple matches, the first one in the list will be returned by default
- Parameters
width – Width, if no matching width is required, pass 0
height – Height, if no matching height is required, pass 0
format – Type Format , if no matching type is required, pass Format#UNKNOWN
fps – Frame rate, pass 0 if there is no need to match the frame rate
- Returns
Returns the matching stream configuration
-
inline void close()
resources release
-
inline int getStreamProfileCount()¶
-
enum StreamType¶
Enumeration value describing the type of data stream
Public Functions
-
inline StreamType(int value)¶
-
inline int value()
Get the index corresponding to the data stream type
- Returns
index value
Public Members
- VIDEO =(0)
Video stream (infrared, color, depth streams are all video streams)
- IR =(1)
infrared stream
- COLOR =(2)
color stream
- DEPTH =(3)
depth stream
- ACCEL =(4)
Accelerometer data stream
- GYRO =(5)
Gyroscope data stream
Public Static Functions
-
static inline StreamType get(int value)
Get the data stream type corresponding to the specified index
- Parameters
value – index value
- Returns
data stream type
Private Members
- final int mValue
-
inline StreamType(int value)¶
-
enum SyncMode¶
Sync mode
Public Functions
-
inline SyncMode(int value)¶
-
inline int value()
Get the index corresponding to the data stream format
- Returns
index value
Public Members
- OB_SYNC_STOP =(0)
stop sync
- OB_SYNC_SINGLE_MODE =(1)
single device mode
- OB_SYNC_ONLINE_HOST_MODE =(2)
The single device mode is also the host mode, which is dominated by ir
- OB_SYNC_ONLINE_SLAVE_MODE =(3)
slave mode (ext_in –> rgb、tof、ext_out)
- OB_SYNC_ONLY_MCU_MODE =(4)
MCU as host mode
- OB_SYNC_ONLY_IR_MODE =(5)
IR as host mode
Public Static Functions
-
static inline SyncMode get(int value)
Get the data stream format corresponding to the specified index
- Parameters
value – index value
- Returns
data stream format
Private Members
- final int mValue
-
inline SyncMode(int value)¶
-
interface UpgradeCallback¶
Firmware upgrade callback class
Public Functions
-
void onCallback(short state, short percent, String msg)¶
Firmware upgrade callback
- Parameters
state – current state
msg – status information
percent – Current status progress, percentage 0~100
Public Members
-
short STAT_FILE_TRANSFER = 4¶
Firmware file transfer status
-
short STAT_DONE = 3¶
Firmware upgrade complete
-
short STAT_IN_PROGRESS = 2¶
Firmware upgrade in progress
-
short STAT_START = 1¶
Firmware upgrade starts
-
short STAT_VERIFY_IMAGE = 0¶
Firmware file verification
-
short ERR_VERIFY = -1¶
Firmware file verification failed
-
short ERR_PROGRAM = -2¶
program error
-
short ERR_ERASE = -3¶
Erase failed
-
short ERR_FLASH_TYPE = -4¶
flash type failed
-
short ERR_IMG_SIZE = -5¶
Firmware file size failed
-
short ERR_OTHER = -6¶
other errors
-
short ERR_DDR = -7¶
DDR error
-
short ERR_TIMEOUT = -8¶
Upgrade timed out
-
void onCallback(short state, short percent, String msg)¶
- VideoFrame : public com.orbbec.obsensor.Frame
Base class for ColorFrame, DepthFrame, IRFrame
Subclassed by com.orbbec.obsensor.ColorFrame, com.orbbec.obsensor.DepthFrame, com.orbbec.obsensor.IRFrame
Public Functions
-
inline int getWidth()¶
Get the height of the data frame
- Returns
height of the data frame
-
inline int getHeight()¶
Get the width of the data frame
- Returns
width of the data frame
-
inline int getPixelAvailableBitSize()¶
Get the effective number of pixels (such as Y16 format frame, but only the lower 10 bits are valid bits, and the upper 6 bits are filled with 0) Only valid for Y8/Y10/Y11/Y12/Y14/Y16 format
- Returns
Returns the effective number of pixels in pixels, or 0 if it is an unsupported format
-
inline int getWidth()¶
- VideoStreamProfile : public com.orbbec.obsensor.StreamProfile
Data stream configuration for Color, Depth, IR stream
Public Functions
-
inline int getWidth()
Get data stream width
- Returns
data stream width
-
inline int getHeight()
Get data flow height
- Returns
data flow height
-
inline int getFps()¶
Get data stream frame rate per second
- Returns
streaming frame rate
-
inline void close()
resource release
-
inline int getWidth()
-
namespace datatype¶
- CameraDistortion : public com.orbbec.obsensor.DataType
Distortion Parameters
Public Functions
-
inline float getK1()¶
Get Radial Distortion Factor 1
- Returns
Radial distortion factor 1
-
inline float getK2()¶
Get Radial Distortion Factor 2
- Returns
Radial distortion factor 2
-
inline float getK3()¶
Get Radial Distortion Factor 3
- Returns
Radial distortion factor 3
-
inline float getK4()¶
Get Radial Distortion Factor 4
- Returns
Radial distortion factor 4
-
inline float getK5()¶
Get Radial Distortion Factor 5
- Returns
Radial distortion factor 5
-
inline float getK6()¶
Get Radial Distortion Factor 6
- Returns
Radial distortion factor 6
-
inline float getP1()¶
Get the tangential distortion factor 1
- Returns
Tangential distortion factor 1
-
inline float getP2()¶
Get the tangential distortion factor 2
- Returns
Tangential distortion factor 2
-
inline int BYTES()¶
Get the number of bytes occupied by the Native structure
- Returns
The number of bytes occupied by the Native structure
-
inline float getK1()¶
- CameraIntrinsic : public com.orbbec.obsensor.DataType
Camera internal parameters
Public Functions
-
inline float getFx()¶
Get the focal length in the x direction, unit: pixel
- Returns
returns the focal length in the x-direction
-
inline float getFy()¶
Get the focal length in the y direction, unit: pixel
- Returns
returns the y-direction focal length
-
inline float getCx()¶
Get the abscissa of the optical center
- Returns
returns the abscissa of the optical center
-
inline float getCy()¶
Get the ordinate of the optical center
- Returns
returns the ordinate of the optical center
-
inline short getWidth()¶
get image width
- Returns
returns image width
-
inline short getHeight()¶
get image height
- Returns
returns image height
-
inline int BYTES()
Get the number of bytes occupied by the Native structure
- Returns
The number of bytes occupied by the Native structure
-
inline float getFx()¶
- D2CTransform : public com.orbbec.obsensor.DataType
Rotation/Transformation Matrix
Public Functions
- inline float[] getRot ()
Get rotation matrix, row-major
- Returns
rotation matrix
- inline float[] getTrans ()
get transformation matrix
- Returns
transformation matrix
-
inline int BYTES()
Get the number of bytes occupied by the Native structure
- Returns
The number of bytes occupied by the Native structure
- DeviceTemperature : public com.orbbec.obsensor.DataType
Device temperature information
Public Functions
-
inline float getCpuTemp()¶
Get CPU temperature, unit: Celsius
- Returns
CPU temperature
-
inline float getIrTemp()¶
Get IR sensor temperature, unit: Celsius
- Returns
IR sensor temperature
-
inline float getLdmTemp()¶
Get the temperature of the laser module, unit: Celsius
- Returns
Laser module temperature
-
inline float getMainBoardTemp()¶
Get the motherboard temperature, unit: Celsius
- Returns
motherboard temperature
-
inline float getTecTemp()¶
Get the TEC temperature in degrees Celsius
- Returns
TEC temperature
-
inline float getImuTemp()¶
Get IMU sensor temperature, unit: Celsius
- Returns
IMU sensor temperature
-
inline float getRgbTemp()¶
Get RGB sensor temperature, unit: Celsius
- Returns
RGB sensor temperature
-
inline int BYTES()
Get the number of bytes occupied by the Native structure
- Returns
The number of bytes occupied by the Native structure
-
inline float getCpuTemp()¶
- ExposureThresholdControl : public com.orbbec.obsensor.DataType
TOF Exposure Threshold
Public Functions
-
inline int getUpper()¶
Get the upper limit of the threshold, unit: ms
- Returns
upper threshold
-
inline int getLower()¶
Get the lower limit of the threshold, unit: ms
- Returns
lower threshold
-
inline void setUpper(int upper)¶
Set the upper limit of the threshold, unit: ms
- Parameters
upper – upper threshold value
-
inline void setLower(int lower)¶
Set the lower limit of the threshold, unit: ms
- Parameters
lower – Lower threshold value
-
inline int BYTES()
Get the number of bytes occupied by the Native structure
- Returns
The number of bytes occupied by the Native structure
-
inline int getUpper()¶
- MultiDeviceSyncConfig : public com.orbbec.obsensor.DataType
Tof multi-device synchronization configuration
Public Functions
-
inline short getTofPhaseDelay()¶
Get TOF delayed exposure time, unit: us
- Returns
TOF delayed exposure time
-
inline void setTofPhaseDelay(short delay)¶
Set TOF delayed exposure time, unit: us
- Parameters
TOF – delayed exposure time
-
inline short getRgbPhaseDelay()¶
Get RGB delayed exposure time, unit: us
- Returns
RGB delayed exposure time
-
inline void setRgbPhaseDelay(short delay)¶
Set RGB delay exposure time, unit: us
- Parameters
delay – RGB delayed exposure time
-
inline short getOutPhaseDelay()¶
Get the signal delay output time, unit: us
- Returns
Signal delay output time
-
inline void setOutPhaseDelay(short delay)¶
Set the signal delay output time, unit: us
- Parameters
delay – Signal delay output time
-
inline short getOutOcPolarity()¶
Get pulse type
- Returns
Return pulse type, 0: positive pulse, 1: negative pulse
-
inline void setOutOcPolarity(short polarity)¶
Set the pulse type, 0: positive pulse, 1: negative pulse
- Parameters
polarity – Pulse type, 0: positive pulse, 1: negative pulse
-
inline short getMcuHostFps()¶
Get the trigger frame rate when the mcu master mode
- Returns
Trigger frame rate when returning to mcu master mode
-
inline void setMcuHostFps(short fps)¶
Set trigger frame rate when mcu master mode
- Parameters
fps – Trigger frame rate in mcu master mode
-
inline short getCurDevId()¶
Get the current device number
- Returns
Returns the current device number
-
inline void setCurDevId(short id)¶
Set the current device number
- Parameters
id – device ID
-
inline int BYTES()
Get the number of bytes occupied by the Native structure
- Returns
The number of bytes occupied by the Native structure
-
inline short getTofPhaseDelay()¶
- OBRect : public com.orbbec.obsensor.DataType
Rectangle description
Public Functions
-
inline int getX()¶
Get the x-coordinate of the origin of the rectangle
- Returns
returns the x-coordinate of the origin of the rectangle
-
inline int getY()¶
Get the y-coordinate of the origin of the rectangle
- Returns
returns the y coordinate of the origin of the rectangle
-
inline int getWidth()
get rectangle width
- Returns
returns the width of the rectangle
-
inline int getHeight()
get rectangle height
- Returns
returns the height of the rectangle
-
inline int BYTES()
Get the number of bytes occupied by the Native structure
- Returns
The number of bytes occupied by the Native structure
-
inline int getX()¶