C API reference¶
Macro definitions¶
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OB_EXTENSION_API¶
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DEPRECATED¶
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ob_filter_callback¶
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ob_playback_callback¶
Structure¶
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struct ob_error¶
The error class exposed by the SDK, users can get detailed error information according to the erro .
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struct OBAccelValue¶
Data structures for accelerometers and gyroscopes .
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struct OBBoolPropertyRange¶
Boolean-scoped structure .
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struct OBCameraDistortion¶
Distortion Parameters .
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struct OBCameraIntrinsic¶
Camera internal parameters .
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struct OBCameraParam¶
Camera parameters .
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struct OBColorPoint¶
3D point structure with color information
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struct OBD2CTransform¶
Rotation/Transformation .
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struct OBDataChunk¶
Data block structure for data block transmission .
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struct OBDeviceTemperature¶
Get the temperature parameters of the device (unit: Celsius) .
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struct OBFloatPropertyRange¶
Float range structure .
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struct OBIntPropertyRange¶
Int range structure .
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struct OBMultiDeviceSyncConfig¶
Multi-device synchronization configuration .
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struct OBPoint¶
3D point structure in SDK
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struct OBPropertyItem¶
Used to describe the characteristics of each property .
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struct OBRect¶
rectangle
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struct OBTofExposureThresholdControl¶
TOF Exposure Threshold .
Enumerate¶
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enum OBPermissionType¶
the permission type of api or property
Values:
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enumerator OB_PERMISSION_DENY¶
no permission
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enumerator OB_PERMISSION_READ¶
can read
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enumerator OB_PERMISSION_WRITE¶
can write
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enumerator OB_PERMISSION_READ_WRITE¶
can read and write
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enumerator OB_PERMISSION_DENY¶
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enum OBStatus¶
error code
Values:
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enumerator OB_STATUS_OK¶
status ok
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enumerator OB_STATUS_ERROR¶
status error
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enumerator OB_STATUS_OK¶
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enum OBLogSeverity¶
log level, the higher the level, the stronger the log filter
Values:
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enumerator OB_LOG_SEVERITY_DEBUG¶
debug
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enumerator OB_LOG_SEVERITY_INFO¶
information
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enumerator OB_LOG_SEVERITY_WARN¶
warning
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enumerator OB_LOG_SEVERITY_ERROR¶
error
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enumerator OB_LOG_SEVERITY_FATAL¶
fatal error
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enumerator OB_LOG_SEVERITY_NONE¶
none (close LOG)
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enumerator OB_LOG_SEVERITY_DEBUG¶
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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 .
Values:
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enumerator OB_EXCEPTION_TYPE_UNKNOWN¶
Unknown error, an error not clearly defined by the SDK
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enumerator OB_EXCEPTION_TYPE_CAMERA_DISCONNECTED¶
SDK device disconnection exception
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enumerator OB_EXCEPTION_TYPE_PLATFORM¶
An error in the SDK adaptation platform layer means an error in the implementation of a specific system platform
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enumerator OB_EXCEPTION_TYPE_INVALID_VALUE¶
Invalid parameter type exception, need to check input parameter
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enumerator OB_EXCEPTION_TYPE_WRONG_API_CALL_SEQUENCE¶
Exception caused by API version mismatch
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enumerator OB_EXCEPTION_TYPE_NOT_IMPLEMENTED¶
SDK and firmware have not yet implemented functions
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enumerator OB_EXCEPTION_TYPE_IO¶
SDK access IO exception error
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enumerator OB_EXCEPTION_TYPE_MEMORY¶
SDK access and use memory errors, which means that the frame fails to allocate memory
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enumerator OB_EXCEPTION_TYPE_UNSUPPORTED_OPERATION¶
Unsupported operation type error by SDK or RGBD device
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enumerator OB_EXCEPTION_TYPE_UNKNOWN¶
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enum OBSensorType¶
Enumeration value describing the sensor type .
Values:
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enumerator OB_SENSOR_UNKNOWN¶
Unknown type sensor
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enumerator OB_SENSOR_IR¶
IR
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enumerator OB_SENSOR_COLOR¶
Color
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enumerator OB_SENSOR_DEPTH¶
Depth
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enumerator OB_SENSOR_ACCEL¶
Accel
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enumerator OB_SENSOR_GYRO¶
Gyro
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enumerator OB_SENSOR_UNKNOWN¶
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enum OBStreamType¶
Enumeration value describing the type of data stream .
Values:
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enumerator OB_STREAM_UNKNOWN¶
Unknown type stream
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enumerator OB_STREAM_VIDEO¶
Video stream (infrared, color, depth streams are all video streams)
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enumerator OB_STREAM_IR¶
IR stream
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enumerator OB_STREAM_COLOR¶
color stream
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enumerator OB_STREAM_DEPTH¶
depth stream
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enumerator OB_STREAM_ACCEL¶
Accelerometer data stream
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enumerator OB_STREAM_GYRO¶
Gyroscope data stream
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enumerator OB_STREAM_UNKNOWN¶
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enum OBFrameType¶
Describe the Frame type enumeration value .
Values:
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enumerator OB_FRAME_UNKNOWN¶
Unknown type frame
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enumerator OB_FRAME_VIDEO¶
Describes the Frame type enumeration value
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enumerator OB_FRAME_IR¶
IR frame
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enumerator OB_FRAME_COLOR¶
color stream
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enumerator OB_FRAME_DEPTH¶
depth stream
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enumerator OB_FRAME_ACCEL¶
Accelerometer data frame
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enumerator OB_FRAME_SET¶
Frame collection (internally contains a variety of data frames)
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enumerator OB_FRAME_POINTS¶
point cloud frame
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enumerator OB_FRAME_GYRO¶
Gyroscope data frame
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enumerator OB_FRAME_UNKNOWN¶
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enum OBFormat¶
Enumeration value describing the pixel format .
Values:
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enumerator OB_FORMAT_YUYV¶
YUYV format
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enumerator OB_FORMAT_YUY2¶
YUY2 format (the actual format is the same as YUYV)
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enumerator OB_FORMAT_UYVY¶
UYVY format
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enumerator OB_FORMAT_NV12¶
NV12 format
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enumerator OB_FORMAT_NV21¶
NV21 format
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enumerator OB_FORMAT_MJPG¶
MJPG encoding format
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enumerator OB_FORMAT_H264¶
H.264 encoding format
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enumerator OB_FORMAT_H265¶
H.265 encoding format
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enumerator OB_FORMAT_Y16¶
Y16 format, single channel 16bit depth
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enumerator OB_FORMAT_Y8¶
Y8 format, single channel 8bit depth
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enumerator OB_FORMAT_Y10¶
Y10 format, single channel 10bit depth (SDK will unpack into Y16 by default)
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enumerator OB_FORMAT_Y11¶
Y11 format, single channel 11bit depth (SDK will unpack into Y16 by default)
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enumerator OB_FORMAT_Y12¶
Y12 format, single channel 12bit depth (SDK will unpack into Y16 by default)
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enumerator OB_FORMAT_GRAY¶
GRAY (the actual format is the same as YUYV)
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enumerator OB_FORMAT_HEVC¶
HEVC encoding format (the actual format is the same as H265)
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enumerator OB_FORMAT_I420¶
I420 format
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enumerator OB_FORMAT_ACCEL¶
Acceleration data format
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enumerator OB_FORMAT_GYRO¶
Gyroscope Data Format
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enumerator OB_FORMAT_POINT¶
xyz 3D coordinate point format
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enumerator OB_FORMAT_RGB_POINT¶
xyz 3D coordinate point format with RGB information
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enumerator OB_FORMAT_RLE¶
RLE pressure test format (SDK will be unpacked into Y16 by default)
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enumerator OB_FORMAT_RGB888¶
RGB888 format
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enumerator OB_FORMAT_BGR¶
BGR format (actual BRG888)
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enumerator OB_FORMAT_Y14¶
Y14 format, single channel 14bit depth (SDK will unpack into Y16 by default)
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enumerator OB_FORMAT_BGRA¶
BGRA
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enumerator OB_FORMAT_UNKNOWN¶
unknown format
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enumerator OB_FORMAT_YUYV¶
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enum OBUpgradeState¶
Firmware upgrade status .
Values:
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enumerator STAT_FILE_TRANSFER¶
file transfer
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enumerator STAT_DONE¶
update completed
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enumerator STAT_IN_PROGRESS¶
upgrade in process
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enumerator STAT_START¶
start the upgrade
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enumerator STAT_VERIFY_IMAGE¶
Image file verification
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enumerator ERR_VERIFY¶
Verification failed
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enumerator ERR_PROGRAM¶
Program execution failed
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enumerator ERR_ERASE¶
Flash parameter failed
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enumerator ERR_FLASH_TYPE¶
Flash type error
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enumerator ERR_IMAGE_SIZE¶
Image file size error
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enumerator ERR_OTHER¶
other errors
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enumerator ERR_DDR¶
DDR access error
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enumerator ERR_TIMEOUT¶
timeout error
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enumerator STAT_FILE_TRANSFER¶
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enum OBFileTranState¶
file transfer status
Values:
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enumerator FILE_TRAN_STAT_TRANSFER¶
file transfer
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enumerator FILE_TRAN_STAT_DONE¶
file transfer succeeded
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enumerator FILE_TRAN_STAT_PREPAR¶
preparing
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enumerator FILE_TRAN_ERR_DDR¶
DDR access failed
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enumerator FILE_TRAN_ERR_NOT_ENOUGH_SPACE¶
Insufficient target space error
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enumerator FILE_TRAN_ERR_PATH_NOT_WRITABLE¶
Destination path is not writable
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enumerator FILE_TRAN_ERR_MD5_ERROR¶
MD5 checksum error
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enumerator FILE_TRAN_ERR_WRITE_FLASH_ERROR¶
write flash error
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enumerator FILE_TRAN_ERR_TIMEOUT¶
timeout error
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enumerator FILE_TRAN_STAT_TRANSFER¶
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enum OBDataTranState¶
data transfer status
Values:
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enumerator DATA_TRAN_STAT_STOPPED¶
data transfer stoped
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enumerator DATA_TRAN_STAT_DONE¶
data transfer completed
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enumerator DATA_TRAN_STAT_VERIFYING¶
data verifying
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enumerator DATA_TRAN_STAT_TRANSFERRING¶
data transferring
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enumerator DATA_TRAN_ERR_BUSY¶
Transmission is busy
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enumerator DATA_TRAN_ERR_UNSUPPORTED¶
not support
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enumerator DATA_TRAN_ERR_TRAN_FAILED¶
transfer failed
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enumerator DATA_TRAN_ERR_VERIFY_FAILED¶
Test failed
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enumerator DATA_TRAN_ERR_OTHER¶
other errors
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enumerator DATA_TRAN_STAT_STOPPED¶
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enum OBAlignMode¶
alignment mode
Values:
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enumerator ALIGN_DISABLE¶
turn off alignment
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enumerator ALIGN_D2C_HW_MODE¶
Hardware D2C alignment mode
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enumerator ALIGN_D2C_SW_MODE¶
Software D2C alignment mode
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enumerator ALIGN_DISABLE¶
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enum OBConvertFormat¶
format conversion type enumeration
Values:
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enumerator FORMAT_YUYV_TO_RGB888¶
YUYV to RGB888
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enumerator FORMAT_I420_TO_RGB888¶
I420 to RGB888
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enumerator FORMAT_NV21_TO_RGB888¶
NV21 to RGB888
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enumerator FORMAT_NV12_TO_RGB888¶
NV12 to RGB888
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enumerator FORMAT_MJPG_TO_I420¶
MJPG to I420
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enumerator FORMAT_RGB888_TO_BGR¶
RGB888 to BGR
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enumerator FORMAT_MJPG_TO_NV21¶
MJPG to NV21
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enumerator FORMAT_MJPG_TO_RGB888¶
MJPG to RGB888
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enumerator FORMAT_MJPG_TO_BGR888¶
MJPG to BGR888
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enumerator FORMAT_MJPG_TO_BGRA¶
MJPG to BGRA
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enumerator FORMAT_UYVY_TO_RGB888¶
UYVY to RGB888
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enumerator FORMAT_YUYV_TO_RGB888¶
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enum OBGyroSampleRate¶
Enumeration of IMU sample rate values (gyroscope or accelerometer) .
Values:
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enumerator OB_SAMPLE_RATE_1_5625_HZ¶
1.5625Hz
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enumerator OB_SAMPLE_RATE_3_125_HZ¶
3.125Hz
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enumerator OB_SAMPLE_RATE_6_25_HZ¶
6.25Hz
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enumerator OB_SAMPLE_RATE_12_5_HZ¶
12.5Hz
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enumerator OB_SAMPLE_RATE_25_HZ¶
25Hz
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enumerator OB_SAMPLE_RATE_50_HZ¶
50Hz
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enumerator OB_SAMPLE_RATE_100_HZ¶
100Hz
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enumerator OB_SAMPLE_RATE_200_HZ¶
200Hz
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enumerator OB_SAMPLE_RATE_500_HZ¶
500Hz
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enumerator OB_SAMPLE_RATE_1_KHZ¶
1KHz
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enumerator OB_SAMPLE_RATE_2_KHZ¶
2KHz
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enumerator OB_SAMPLE_RATE_4_KHZ¶
4KHz
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enumerator OB_SAMPLE_RATE_8_KHZ¶
8KHz
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enumerator OB_SAMPLE_RATE_16_KHZ¶
16KHz
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enumerator OB_SAMPLE_RATE_32_KHZ¶
32Hz
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enumerator OB_SAMPLE_RATE_1_5625_HZ¶
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enum OBGyroFullScaleRange¶
Enumeration of gyroscope ranges .
Values:
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enumerator OB_GYRO_FS_16dps¶
16 degrees per second
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enumerator OB_GYRO_FS_31dps¶
31 degrees per second
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enumerator OB_GYRO_FS_62dps¶
62 degrees per second
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enumerator OB_GYRO_FS_125dps¶
125 degrees per second
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enumerator OB_GYRO_FS_245dps¶
245 degrees per second
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enumerator OB_GYRO_FS_250dps¶
250 degrees per second
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enumerator OB_GYRO_FS_500dps¶
500 degrees per second
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enumerator OB_GYRO_FS_1000dps¶
1000 degrees per second
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enumerator OB_GYRO_FS_2000dps¶
2000 degrees per second
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enumerator OB_GYRO_FS_16dps¶
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enum OBAccelFullScaleRange¶
Accelerometer range enumeration .
Values:
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enumerator OB_ACCEL_FS_2g¶
1x the acceleration of gravity
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enumerator OB_ACCEL_FS_4g¶
4x the acceleration of gravity
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enumerator OB_ACCEL_FS_8g¶
8x the acceleration of gravity
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enumerator OB_ACCEL_FS_16g¶
16x the acceleration of gravity
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enumerator OB_ACCEL_FS_2g¶
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enum OBDepthCroppingMode¶
Depth crop mode enumeration .
Values:
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enumerator DEPTH_CROPPING_MODE_AUTO¶
automatic mode
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enumerator DEPTH_CROPPING_MODE_CLOSE¶
close crop
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enumerator DEPTH_CROPPING_MODE_OPEN¶
open crop
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enumerator DEPTH_CROPPING_MODE_AUTO¶
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enum OBDeviceType¶
device type enumeration
Values:
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enumerator OB_STRUCTURED_LIGHT_MONOCULAR_CAMERA¶
Monocular structured light camera
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enumerator OB_STRUCTURED_LIGHT_BINOCULAR_CAMERA¶
Binocular structured light camera
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enumerator OB_TOF_CAMERA¶
TOF camera
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enumerator OB_STRUCTURED_LIGHT_MONOCULAR_CAMERA¶
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enum OBMediaType¶
record playback of the type of interest
Values:
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enumerator OB_MEDIA_COLOR_STREAM¶
color stream
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enumerator OB_MEDIA_DEPTH_STREAM¶
depth stream
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enumerator OB_MEDIA_IR_STREAM¶
IR stream
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enumerator OB_MEDIA_GYRO_STREAM¶
gyro stream
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enumerator OB_MEDIA_ACCEL_STREAM¶
accel stream
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enumerator OB_MEDIA_CAMERA_PARAM¶
camera parameter
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enumerator OB_MEDIA_DEVICE_INFO¶
device information
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enumerator OB_MEDIA_STREAM_INFO¶
stream information
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enumerator OB_MEDIA_ALL¶
All media data types
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enumerator OB_MEDIA_COLOR_STREAM¶
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enum OBMediaState¶
Record playback status .
Values:
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enumerator OB_MEDIA_BEGIN¶
begin
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enumerator OB_MEDIA_PAUSE¶
pause
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enumerator OB_MEDIA_RESUME¶
resume
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enumerator OB_MEDIA_END¶
end
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enumerator OB_MEDIA_BEGIN¶
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enum OBDepthPrecisionLevel¶
depth accuracy class
Values:
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enumerator OB_PRECISION_1MM¶
1mm
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enumerator OB_PRECISION_0MM8¶
0.8mm
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enumerator OB_PRECISION_0MM4¶
0.4mm
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enumerator OB_PRECISION_0MM1¶
0.1mm
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enumerator OB_PRECISION_COUNT¶
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enumerator OB_PRECISION_1MM¶
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enum OBTofFilterRange¶
tof filter scene range
Values:
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enumerator OB_TOF_FILTER_RANGE_CLOSE¶
close range
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enumerator OB_TOF_FILTER_RANGE_MIDDLE¶
middle range
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enumerator OB_TOF_FILTER_RANGE_LONG¶
long range
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enumerator OB_TOF_FILTER_RANGE_DEBUG¶
debug range
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enumerator OB_TOF_FILTER_RANGE_CLOSE¶
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enum OBSyncMode¶
Multi-device sync mode .
Values:
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enumerator OB_SYNC_STOP¶
turn off sync
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enumerator OB_SYNC_SINGLE_MODE¶
single device mode
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enumerator OB_SYNC_ONLINE_HOST_MODE¶
The single device mode is also the host mode, which is dominated by ir
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enumerator OB_SYNC_ONLINE_SLAVE_MODE¶
slave mode (ext_in –> rgb、tof、ext_out)
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enumerator OB_SYNC_ONLY_MCU_MODE¶
MCU as host mode
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enumerator OB_SYNC_ONLY_IR_MODE¶
IR as host mode
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enumerator OB_SYNC_STOP¶
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enum OBPropertyID¶
Enumeration value describing all attribute control commands of the device .
Values:
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enumerator OB_PROP_LDP_BOOL¶
LDP switch
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enumerator OB_PROP_LASER_BOOL¶
Laser switch
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enumerator OB_PROP_LASER_PULSE_WIDTH_INT¶
Read and write laser Time value (pulse width)
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enumerator OB_PROP_LASER_CURRENT_FLOAT¶
Laser current
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enumerator OB_PROP_FLOOD_BOOL¶
IR flood switch
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enumerator OB_PROP_FLOOD_LEVEL_INT¶
IR flood level
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enumerator OB_PROP_DEPTH_MIRROR_BOOL¶
Depth mirror
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enumerator OB_PROP_DEPTH_FLIP_BOOL¶
Depth flip
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enumerator OB_PROP_DEPTH_POSTFILTER_BOOL¶
Depth Postfilter
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enumerator OB_PROP_DEPTH_HOLEFILTER_BOOL¶
Depth Holefilter
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enumerator OB_PROP_IR_MIRROR_BOOL¶
IR mirror
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enumerator OB_PROP_IR_FLIP_BOOL¶
IR flip
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enumerator OB_PROP_MIN_DEPTH_INT¶
Minimum depth threshold
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enumerator OB_PROP_MAX_DEPTH_INT¶
Maximum depth threshold
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enumerator OB_PROP_DEPTH_SOFT_FILTER_BOOL¶
Software filter switch
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enumerator OB_PROP_LDP_STATUS_BOOL¶
LDP status
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enumerator OB_PROP_DEPTH_MAX_DIFF_INT¶
soft filter maxdiff param
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enumerator OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT¶
soft filter maxSpeckleSize
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enumerator OB_PROP_DEPTH_ALIGN_HARDWARE_BOOL¶
Hardware d2c is on
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enumerator OB_PROP_TIMESTAMP_OFFSET_INT¶
Timestamp adjustment
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enumerator OB_PROP_HARDWARE_DISTORTION_SWITCH_BOOL¶
Hardware distortion switch Rectify
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enumerator OB_PROP_FAN_WORK_MODE_INT¶
Fan mode switch
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enumerator OB_PROP_DEPTH_ALIGN_HARDWARE_MODE_INT¶
Multi-resolution D2C mode
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enumerator OB_PROP_ANTI_COLLUSION_ACTIVATION_STATUS_BOOL¶
Anti_collusion activation status
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enumerator OB_PROP_DEPTH_PRECISION_LEVEL_INT¶
The depth precision level, which may change the depth frame data unit, needs to be confirmed through the ValueScale interface of DepthFrame
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enumerator OB_PROP_TOF_FILTER_RANGE_INT¶
tof filter range configuration
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enumerator OB_PROP_LASER_MODE_INT¶
laser mode, the firmware terminal currently only returns 1: IR Drive, 2: Torch
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enumerator OB_PROP_RECTIFY2_BOOL¶
brt2r-rectify function switch (brt2r is a special module on mx6600), 0: Disable, 1: Rectify Enable
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enumerator OB_PROP_COLOR_MIRROR_BOOL¶
Color mirror
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enumerator OB_PROP_COLOR_FLIP_BOOL¶
Color flip
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enumerator OB_PROP_INDICATOR_LIGHT_BOOL¶
Indicator switch, 0: Disable, 1: Enable
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enumerator OB_PROP_DISPARITY_TO_DEPTH_BOOL¶
Disparity to depth switch, 0: off, the depth stream outputs the disparity map; 1. On, the depth stream outputs the depth map.
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enumerator OB_PROP_BRT_BOOL¶
BRT function switch (anti-background interference), 0: Disable, 1: Enable
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enumerator OB_PROP_WATCHDOG_BOOL¶
Watchdog function switch, 0: Disable, 1: Enable
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enumerator OB_PROP_EXTERNAL_SIGNAL_RESET_BOOL¶
External signal trigger restart function switch, 0: Disable, 1: Enable
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enumerator OB_PROP_HEARTBEAT_BOOL¶
Heartbeat monitoring function switch, 0: Disable, 1: Enable
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enumerator OB_PROP_DEPTH_CROPPING_MODE_INT¶
Depth cropping mode device: OB_DEPTH_CROPPING_MODE
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enumerator OB_PROP_D2C_PREPROCESS_BOOL¶
D2C preprocessing switch (such as RGB cropping), 0: off, 1: on
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enumerator OB_PROP_RGB_CUSTOM_CROP_BOOL¶
Custom RGB cropping switch, 0 is off, 1 is on custom cropping, and the ROI cropping area is issued
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enumerator OB_PROP_DEVICE_WORK_MODE_INT¶
Device operating mode (power consumption)
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enumerator OB_PROP_DEVICE_COMMUNICATION_TYPE_INT¶
Device communication method 0: USB; 1: Ethernet(RTSP)
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enumerator OB_PROP_SWITCH_IR_MODE_INT¶
Switch IR mode, 0 for active IR mode, 1 for passive IR mode
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enumerator OB_STRUCT_BASELINE_CALIBRATION_PARAM¶
Baseline calibration parameters
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enumerator OB_STRUCT_DEVICE_TEMPERATURE¶
Device temperature information
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enumerator OB_STRUCT_TOF_EXPOSURE_THRESHOLD_CONTROL¶
TOF exposure threshold range
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enumerator OB_STRUCT_DEVICE_SERIAL_NUMBER¶
get/set serial number
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enumerator OB_STRUCT_DEVICE_TIME¶
get/set device time
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enumerator OB_STRUCT_MULTI_DEVICE_SYNC_CONFIG¶
Multi-device synchronization mode and parameter configuration
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enumerator OB_STRUCT_RGB_CROP_ROI¶
RGB cropping ROI
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enumerator OB_STRUCT_DEVICE_IP_ADDR_CONFIG¶
Device IP address configuration
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enumerator OB_PROP_COLOR_AUTO_EXPOSURE_BOOL¶
Color camera auto exposure
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enumerator OB_PROP_COLOR_EXPOSURE_INT¶
Color camera exposure adjustment
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enumerator OB_PROP_COLOR_GAIN_INT¶
Color camera gain adjustment
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enumerator OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL¶
Color camera automatic white balance
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enumerator OB_PROP_COLOR_WHITE_BALANCE_INT¶
Color camera white balance adjustment
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enumerator OB_PROP_COLOR_BRIGHTNESS_INT¶
Color camera brightness adjustment
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enumerator OB_PROP_COLOR_SHARPNESS_INT¶
Color camera sharpness adjustment
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enumerator OB_PROP_COLOR_SATURATION_INT¶
Color camera saturation adjustment
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enumerator OB_PROP_COLOR_CONTRAST_INT¶
Color camera contrast adjustment
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enumerator OB_PROP_COLOR_GAMMA_INT¶
Color camera gamma adjustment
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enumerator OB_PROP_COLOR_ROLL_INT¶
Color camera image rotation
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enumerator OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT¶
Color camera auto exposure priority
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enumerator OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT¶
Color camera brightness compensation
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enumerator OB_PROP_COLOR_HUE_INT¶
color camera color tint
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enumerator OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT¶
Color Camera Power Line Frequency
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enumerator OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL¶
Automatic exposure of depth camera (infrared camera will be set synchronously under some models of devices)
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enumerator OB_PROP_DEPTH_EXPOSURE_INT¶
Depth camera exposure adjustment (infrared cameras will be set synchronously under some models of devices)
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enumerator OB_PROP_DEPTH_GAIN_INT¶
Depth camera gain adjustment (infrared cameras will be set synchronously under some models of devices)
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enumerator OB_PROP_IR_AUTO_EXPOSURE_BOOL¶
Infrared camera auto exposure (depth camera will be set synchronously under some models of devices)
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enumerator OB_PROP_IR_EXPOSURE_INT¶
Infrared camera exposure adjustment (some models of devices will set the depth camera synchronously)
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enumerator OB_PROP_IR_GAIN_INT¶
Infrared camera gain adjustment (the depth camera will be set synchronously under some models of devices)
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enumerator OB_PROP_IR_SWITCH_INT¶
Binocular IR camera left and right IR switching
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enumerator OB_PROP_SDK_DEPTH_FRAME_UNPACK_BOOL¶
Depth data unpacking function switch (each open stream will be turned on by default, support RLE/Y10/Y11/Y12/Y14 format)
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enumerator OB_PROP_SDK_IR_FRAME_UNPACK_BOOL¶
IR data unpacking function switch (each current will be turned on by default, support RLE/Y10/Y11/Y12/Y14 format)
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enumerator OB_PROP_LDP_BOOL¶
Type definition¶
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typedef struct ContextImpl ob_context¶
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typedef struct DeviceImpl ob_device¶
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typedef struct DeviceInfoImpl ob_device_info¶
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typedef struct DeviceListImpl ob_device_list¶
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typedef struct CameraParamListImpl ob_camera_param_list¶
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typedef struct SensorImpl ob_sensor¶
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typedef struct SensorListImpl ob_sensor_list¶
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typedef struct StreamProfileImpl ob_stream_profile¶
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typedef struct StreamProfileListImpl ob_stream_profile_list¶
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typedef struct CFrameImpl ob_frame¶
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typedef struct FilterImpl ob_filter¶
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typedef struct PipelineImpl ob_pipeline¶
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typedef struct ConfigImpl ob_config¶
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typedef struct RecorderImpl ob_recorder¶
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typedef struct PlaybackImpl ob_playback¶
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typedef enum OBPermissionType ob_permission_type¶
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typedef enum OBLogSeverity ob_log_severity¶
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typedef enum OBLogSeverity DEVICE_LOG_SEVERITY_LEVEL¶
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typedef enum OBLogSeverity OBDeviceLogSeverityLevel¶
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typedef enum OBLogSeverity ob_device_log_severity_level¶
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typedef enum OBExceptionType ob_exception_type¶
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typedef struct ob_error ob_error
The error class exposed by the SDK, users can get detailed error information according to the erro .
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typedef enum OBSensorType ob_sensor_type¶
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typedef enum OBStreamType ob_stream_type¶
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typedef enum OBFrameType ob_frame_type¶
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typedef enum OBUpgradeState ob_upgrade_state¶
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typedef enum OBFileTranState ob_file_tran_state¶
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typedef enum OBDataTranState ob_data_tran_state¶
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typedef struct OBDataChunk ob_data_chunk¶
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typedef struct OBIntPropertyRange ob_int_property_range¶
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typedef struct OBFloatPropertyRange ob_float_property_range¶
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typedef struct OBBoolPropertyRange ob_bool_property_range¶
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typedef struct OBCameraIntrinsic ob_camera_intrinsic¶
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typedef struct OBCameraDistortion ob_camera_distortion¶
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typedef struct OBD2CTransform ob_d2c_transform¶
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typedef struct OBCameraParam ob_camera_param¶
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typedef enum OBAlignMode ob_align_mode¶
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typedef enum OBConvertFormat ob_convert_format¶
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typedef enum OBGyroSampleRate ob_gyro_sample_rate¶
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typedef enum OBGyroSampleRate OBAccelSampleRate¶
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typedef enum OBGyroSampleRate ob_accel_sample_rate¶
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typedef enum OBGyroSampleRate OB_SAMPLE_RATE¶
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typedef enum OBGyroFullScaleRange ob_gyro_full_scale_range¶
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typedef enum OBGyroFullScaleRange OB_GYRO_FULL_SCALE_RANGE¶
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typedef enum OBAccelFullScaleRange ob_accel_full_scale_range¶
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typedef enum OBAccelFullScaleRange OB_ACCEL_FULL_SCALE_RANGE¶
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typedef struct OBAccelValue OBGyroValue¶
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typedef struct OBAccelValue ob_accel_value¶
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typedef struct OBAccelValue ob_gyro_value¶
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typedef uint64_t ob_device_state¶
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typedef struct OBDeviceTemperature ob_device_temperature¶
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typedef struct OBDeviceTemperature DEVICE_TEMPERATURE¶
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typedef enum OBDepthCroppingMode ob_depth_cropping_mode¶
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typedef enum OBDepthCroppingMode OB_DEPTH_CROPPING_MODE¶
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typedef enum OBDeviceType ob_device_type¶
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typedef enum OBDeviceType OB_DEVICE_TYPE¶
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typedef enum OBMediaType ob_media_type¶
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typedef enum OBMediaType OB_MEDIA_TYPE¶
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typedef enum OBMediaState ob_media_state¶
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typedef enum OBMediaState OB_MEDIA_STATE_EM¶
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typedef enum OBDepthPrecisionLevel ob_depth_precision_level¶
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typedef enum OBDepthPrecisionLevel OB_DEPTH_PRECISION_LEVEL¶
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typedef enum OBTofFilterRange ob_tof_filter_range¶
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typedef enum OBTofFilterRange TOF_FILTER_RANGE¶
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typedef struct OBColorPoint ob_color_point¶
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typedef enum OBSyncMode ob_sync_mode¶
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typedef enum OBSyncMode OB_SYNC_MODE¶
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typedef struct OBTofExposureThresholdControl ob_tof_exposure_threshold_control¶
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typedef struct OBTofExposureThresholdControl TOF_EXPOSURE_THRESHOLD_CONTROL¶
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typedef struct OBMultiDeviceSyncConfig ob_multi_device_sync_config¶
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typedef struct OBMultiDeviceSyncConfig OB_MULTI_DEVICE_SYNC_CONFIG¶
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typedef void (*ob_file_send_callback)(ob_file_tran_state state, const char *message, uint8_t percent, void *user_data)¶
file transfer callback
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typedef void (*ob_device_upgrade_callback)(ob_upgrade_state state, const char *message, uint8_t percent, void *user_data)¶
Firmware upgrade callback.
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typedef void (*ob_device_state_callback)(ob_device_state state, const char *message, void *user_data)¶
device status callback
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typedef void (*ob_set_data_callback)(ob_data_tran_state state, uint8_t percent, void *user_data)¶
Callback for writing data.
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typedef void (*ob_get_data_callback)(ob_data_tran_state state, ob_data_chunk *dataChunk, void *user_data)¶
read data callback
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typedef void (*ob_media_state_callback)(ob_media_state state, void *user_data)¶
Media status callbacks (recording and playback)
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typedef void (*ob_device_changed_callback)(ob_device_list *removed, ob_device_list *added, void *user_data)¶
Device change (up and down) callback.
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typedef void (*ob_frameset_callback)(ob_frame *frameset, void *user_data)¶
dataframe collection callback
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typedef enum OBPropertyID ob_property_id¶
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typedef enum OBPropertyType OBPropertyType
The data type used to describe all property settings .
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typedef enum OBPropertyType ob_property_type¶
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typedef struct OBPropertyItem OBPropertyItem
Used to describe the characteristics of each property .
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typedef struct OBPropertyItem ob_property_item¶
Function¶
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ob_context *ob_create_context(ob_error **error)¶
create context api
- Parameters
error – [out] record the error information
- Returns
ob_context* return the context that created
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ob_context *ob_create_context_with_config(const char *config_path, ob_error **error)¶
create context with config
- Parameters
config_path – [in] Configure the path of the file, and return null if the default path is used.
error – [out] Log error messages
- Returns
ob_context* returns the context
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void ob_delete_context(ob_context *context, ob_error **error)¶
Delete context.
- Parameters
context – [in] The context to delete
error – [out] Log error messages
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ob_device_list *ob_query_device_list(ob_context *context, ob_error **error)¶
Get the list of enumerated devices.
- Parameters
context – [in] Context
error – [out] Log error messages
- Returns
ob_device_list* return device list object
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void ob_set_device_changed_callback(ob_context *context, ob_device_changed_callback callback, void *user_data, ob_error **error)¶
Set device plug-in callback function.
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void ob_enable_multi_device_sync(ob_context *context, uint64_t repeatInterval, ob_error **error)¶
Activate the multi-device synchronization function to synchronize the clock of the created device(the device needs to support this function)
- Parameters
context – [in] Context
repeatInterval – [in] synchronization time interval (unit: ms; if repeatInterval=0, itmeans that it will only be synchronized once and will not be executedregularly)
error – [out] Log error messages
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void ob_set_logger_severity(ob_log_severity severity, ob_error **error)¶
Set the global log level and this will affect both the log level output to the console and the log output to the file.
- Parameters
severity – [in] Output log level
error – [out] Log error messages
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void ob_set_logger_to_file(ob_log_severity severity, const char *directory, ob_error **error)¶
Set output log to file.
- Parameters
severity – [in] log level output to file
directory – [in] The log file output path. If the path is empty, the existing settings will continue to be used (if the existing configuration is also empty, the log will not be output to the file)
error – [out] Log error messages
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void ob_set_logger_to_console(ob_log_severity severity, ob_error **error)¶
Set the output log to the console.
/**
- Parameters
log – [in] Log level
error – [out] Log error messages
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uint32_t ob_device_list_device_count(ob_device_list *list, ob_error **error)¶
Get the number of devices.
- Parameters
list – [in] Device list object
error – [out] Log error messages
- Returns
uint32_t returns the number of devices
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const char *ob_device_list_get_device_name(ob_device_list *list, uint32_t index, ob_error **error)¶
Get device name (DEPRECATED)
- Parameters
list – [in] Device list object
index – [in] Device index
error – [out] Log error messages
- Returns
const char* returns device name
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int ob_device_list_get_device_pid(ob_device_list *list, uint32_t index, ob_error **error)¶
Get the pid of the specified device.
- Parameters
list – [in] Device list object
index – [in] Device index
error – [out] Log error messages
- Returns
int returns the device pid
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int ob_device_list_get_device_vid(ob_device_list *list, uint32_t index, ob_error **error)¶
Get the vid of the specified device.
- Parameters
list – [in] Device list object
index – [in] Device index
error – [out] Log error messages
- Returns
int return device vid
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const char *ob_device_list_get_device_uid(ob_device_list *list, uint32_t index, ob_error **error)¶
Get the uid of the specified device.
- Parameters
list – [in] Device list object
index – [in] Device index
error – [out] Log error messages
- Returns
const char* returns the device uid
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const char *ob_device_list_get_device_serial_number(ob_device_list *list, uint32_t index, ob_error **error)¶
Get the serial number of the specified device.
- Parameters
list – [in] Device list object
index – [in] Device index
error – [out] Log error messages
- Returns
const char* returns the device uid
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ob_device *ob_device_list_get_device(ob_device_list *list, uint32_t index, ob_error **error)¶
Create device.
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ob_device *ob_device_list_get_device_by_serial_number(ob_device_list *list, const char *serial_number, ob_error **error)¶
Create device.
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ob_device *ob_device_list_get_device_by_uid(ob_device_list *list, const char *uid, ob_error **error)¶
Create device.
- Attention
If the device has been acquired and created elsewhere, repeated acquisitions will return an error
- Parameters
list – [in] Device list object
index – Creat the uid of the device
error – [out] Log error messages
- Returns
ob_device* returns the created device
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void ob_delete_device(ob_device *device, ob_error **error)¶
Delete device.
- Parameters
device – [in] Device to be deleted
error – [out] Log error messages
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void ob_delete_device_info(ob_device_info *info, ob_error **error)¶
Delete device information.
- Parameters
info – [in] Device information to be deleted
error – [out] Log error messages
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void ob_delete_device_list(ob_device_list *list, ob_error **error)¶
Delete device list.
- Parameters
list – [in] Device list object to be deleted
error – [out] Log error messages
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ob_device_info *ob_device_get_device_info(ob_device *device, ob_error **error)¶
Get device information.
- Parameters
device – [in] Device to obtain information
error – [out] Log error messages
- Returns
ob_device_info* returns device information
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ob_sensor_list *ob_device_get_sensor_list(ob_device *device, ob_error **error)¶
List all sensors.
- Parameters
device – [in] Device object
error – [out] Log error messages
- Returns
ob_sensor_list* returns the list of all sensors
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ob_sensor *ob_device_get_sensor(ob_device *device, ob_sensor_type type, ob_error **error)¶
Get the device’s sensors.
- Parameters
device – [in] Device object
type – [in] Type of sensor to get
error – [out] Log error messages
- Returns
ob_sensor* returns the acquired sensor
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void ob_device_set_int_property(ob_device *device, ob_property_id property_id, int32_t property, ob_error **error)¶
Set int type of device property.
- Parameters
device – [in] Device object
property_id – [in] The id of the property to be set
property – [in] Property value to be set
error – [out] Log error messages
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int32_t ob_device_get_int_property(ob_device *device, ob_property_id property_id, ob_error **error)¶
Get int type of device property.
- Parameters
device – [in] Device object
property_id – [in] Property id
error – [out] Log error messages
- Returns
int32_t returns the property value
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void ob_device_set_float_property(ob_device *device, ob_property_id property_id, float property, ob_error **error)¶
Set float type of device property.
- Parameters
device – [in] Device object
property_id – [in] The id of the property to be set
property – [in] Property value to be set
error – [out] Log error messages
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float ob_device_get_float_property(ob_device *device, ob_property_id property_id, ob_error **error)¶
Get float type of device property.
- Parameters
device – [in] Device object
property_id – [in] Property id
error – [out] Log error messages
- Returns
int32_t returns the property value
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void ob_device_set_bool_property(ob_device *device, ob_property_id property_id, bool property, ob_error **error)¶
Set bool type of device property.
- Parameters
device – [in] Device object
property_id – [in] The id of the property to be set
property – [in] Property value to be set
error – [out] Log error messages
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bool ob_device_get_bool_property(ob_device *device, ob_property_id property_id, ob_error **error)¶
Get bool type of device property.
- Parameters
device – [in] Device object
property_id – [in] Property id
error – [out] Log error messages
- Returns
bool returns the property value
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void ob_device_set_structured_data(ob_device *device, ob_property_id property_id, const void *data, uint32_t data_size, ob_error **error)¶
Set structured type.
- Parameters
device – [in] Device object
property_id – [in] The id of the property to be set
data – [in] Property data to be set
data_size – [in] The size of the property to be set
error – [out] Log error messages
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void ob_device_get_structured_data(ob_device *device, ob_property_id property_id, void *data, uint32_t *data_size, ob_error **error)¶
Get structured type.
- Parameters
device – [in] Device object
property_id – [in] Id of the property
data – [out] Property data obtained
data_size – [out] Get the size of the property
error – [out] Log error messages
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void ob_device_set_raw_data(ob_device *device, ob_property_id property_id, void *data, uint32_t data_size, ob_set_data_callback cb, bool async, void *user_data, ob_error **error)¶
Set raw data type of device property.
- Parameters
device – [in] Device object
property_id – [in] The id of the property to be set
data – [in] Property data to be set
data_size – [in] The size of the property to be set
cb – [in] Set data callback
async – [in] Whether to execute asynchronously
user_data – [in] User-defined data will be returned in the callback
error – [out] Log error messages
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void ob_device_get_raw_data(ob_device *device, ob_property_id property_id, ob_get_data_callback cb, bool async, void *user_data, ob_error **error)¶
Get raw data type of device property.
- Parameters
device – [in] Device object
property_id – [in] Property id
cb – [in] Get data callback
async – [in] Whether to execute asynchronously
user_data – [in] User-defined data will be returned in the callback
error – [out] Log error messages
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uint32_t ob_device_get_supported_property_count(ob_device *device, ob_error **error)¶
Get supported device properties count.
- Parameters
device – [in] Device object
error – [out] Log error messages
- Returns
uint32_t returns the number of properties supported by the device
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ob_property_item ob_device_get_supported_property(ob_device *device, uint32_t index, ob_error **error)¶
Get supported device properties.
- Parameters
device – [in] Device object
index – [in] Property index
error – [out] Log error messages
- Returns
ob_global_unified_property_item returns the type of property supported by the device
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bool ob_device_is_property_supported(ob_device *device, ob_property_id property_id, ob_permission_type permission, ob_error **error)¶
Check if device property permission is supported.
- Parameters
device – [in] Device object
property_id – [in] Property id
permission – [in] The type of permission that needs to be interpreted
error – [out] Log error messages
- Returns
bool returns whether it is supported
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ob_int_property_range ob_device_get_int_property_range(ob_device *device, ob_property_id property_id, ob_error **error)¶
Get int type of device property range.
- Parameters
device – [in] Device object
property_id – [in] Property id
error – [out] Log error messages
- Returns
ob_int_property_range returns the property range
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ob_float_property_range ob_device_get_float_property_range(ob_device *device, ob_property_id property_id, ob_error **error)¶
Get float type of device property range.
- Parameters
device – [in] Device object
property_id – [in] Property id
error – [out] Log error messages
- Returns
ob_float_property_range returns the property range
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ob_bool_property_range ob_device_get_bool_property_range(ob_device *device, ob_property_id property_id, ob_error **error)¶
Get the bool type of device property range.
- Parameters
device – [in] Device object
property_id – [in] Property id
error – [out] Log error messages
- Returns
ob_bool_property_range returns the property range
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void ob_device_write_ahb(ob_device *device, uint32_t reg, uint32_t mask, uint32_t value, ob_error **error)¶
ahb write register
- Parameters
device – [in] Device object
reg – Register to be written
mask – Mask
value – The value to be written
error – [out] Log error messages
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void ob_device_read_ahb(ob_device *device, uint32_t reg, uint32_t mask, uint32_t *value, ob_error **error)¶
Read ahb register.
- Parameters
device – [in] Device object
reg – Register to be read
mask – Mask
value – The value to be read
error – [out] Log error messages
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void ob_device_write_i2c(ob_device *device, uint32_t module_id, uint32_t reg, uint32_t mask, uint32_t value, ob_error **error)¶
Write i2c register.
- Parameters
device – [in] Device object
module_id – I2c module id to be written
reg – Register to be written
mask – Mask
value – The value to be written
error – [out] Log error messages
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void ob_device_read_i2c(ob_device *device, uint32_t module_id, uint32_t reg, uint32_t mask, uint32_t *value, ob_error **error)¶
Read i2c register.
- Parameters
device – [in] Device object
module_id – The id of the i2c module to be read
reg – Register to be read
mask – Mask
value – The value to be read
error – [out] Log error messages
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void ob_device_write_flash(ob_device *device, uint32_t offset, const void *data, uint32_t data_size, ob_set_data_callback cb, bool async, void *user_data, ob_error **error)¶
Set the properties of writing to Flash [Asynchronous Callback].
- Parameters
device – [in] Device object
offset – flash offset address
data – Property data to be written
data_size – The size of the property to be written
cb – Set data callback
async – [in] Whether to execute asynchronously
user_data – [in] User-defined data will be returned in the callback
error – [out] Log error messages
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void ob_device_read_flash(ob_device *device, uint32_t offset, uint32_t data_size, ob_get_data_callback cb, bool async, void *user_data, ob_error **error)¶
Read Flash properties [asynchronous callback].
- Parameters
device – [in] Device object
offset – flash offset address
data_size – The size of the data to be read
cb – Read flash data and progress callback
async – [in] Whether to execute asynchronously
user_data – [in] User-defined data will be returned in the callback
error – [out] Log error messages
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uint64_t ob_device_sync_device_time(ob_device *device, ob_error **error)¶
Synchronize the device time (time to the device, synchronize the local system time to the device)
- Parameters
device – [in] Device object
uint64_t – [out] Command round trip time (rtt)
error – [out] Log error messages
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void ob_device_upgrade(ob_device *device, const char *path, ob_device_upgrade_callback callback, bool async, void *user_data, ob_error **error)¶
Device firmware upgrade.
- Parameters
device – [in] Device object
pathFirmware – [in] path
callback – [in] Firmware upgrade progress callback
async – [in] Whether to execute asynchronously
user_data – [in] User-defined data will be returned in the callback
error – [out] Log error messages
-
ob_device_state ob_device_get_device_state(ob_device *device, ob_error **error)¶
Get current device status.
-
void ob_device_state_changed(ob_device *device, ob_device_state_callback callback, void *user_data, ob_error **error)¶
Monitor device state change.
- Parameters
device – [in] Device object
callback – [in] Callback when the device status changes
user_data – [in] User-defined data will be returned in the callback
error – [out] Log error messages
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void ob_device_send_file_to_destination(ob_device *device, const char *file_path, const char *dst_path, ob_file_send_callback callback, bool async, void *user_data, ob_error **error)¶
Send files to the specified path of the device.
- Parameters
device – [in] Device object
file_path – [in] Source file path
dst_path – [in] Specify the device-side file acceptance path
callback – [in] File sending progress callback
async – [in] Whether to execute asynchronously
user_data – [in] User-defined data will be returned in the callback
error – [out] Log error messages
-
bool ob_device_activate_authorization(ob_device *device, const char *auth_code, ob_error **error)¶
Verify device authorization code.
- Parameters
device – [in] Device object
auth_code – [in] Authorization code
error – [out] Log error messages
- Returns
bool whether the activation is successful
-
void ob_device_write_authorization_code(ob_device *device, const char *auth_code, ob_error **error)¶
Write device authorization code.
- Parameters
device – [in] Device object
auth_code – [in] Authorization code
error – [out] Log error messages
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ob_camera_param_list *ob_device_get_calibration_camera_param_list(ob_device *device, ob_error **error)¶
Get the original parameter list of camera calibration saved in the device. The parameters in the list do not correspond to the current open-stream configuration. You need to select the parameters according to the actual situation, and may need to do scaling, mirroring and other processing. Non-professional users are recommended to use the ob_pipeline_get_camera_param() interface.
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const char *ob_device_info_name(ob_device_info *info, ob_error **error)¶
Get device name.
- Parameters
info – [in] Device Information
error – [out] Log error messages
- Returns
const char* returns the device name
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int ob_device_info_pid(ob_device_info *info, ob_error **error)¶
Get device pid.
- Parameters
info – [in] Device Information
error – [out] Log error messages
- Returns
int returns the device pid
-
int ob_device_info_vid(ob_device_info *info, ob_error **error)¶
Get device vid.
- Parameters
info – [in] Device Information
error – [out] Log error messages
- Returns
int returns device vid
-
const char *ob_device_info_uid(ob_device_info *info, ob_error **error)¶
Get device uid.
- Parameters
info – [in] Device Information
error – [out] Log error messages
- Returns
const char* returns device uid
-
const char *ob_device_info_serial_number(ob_device_info *info, ob_error **error)¶
Get device serial number.
- Parameters
info – [in] Device Information
error – [out] Log error messages
- Returns
const char* returns device serial number
-
const char *ob_device_info_firmware_version(ob_device_info *info, ob_error **error)¶
Get the firmware version number.
- Parameters
info – [in] Device Information
error – [out] Log error messages
- Returns
int returns the firmware version number
-
const char *ob_device_info_usb_type(ob_device_info *info, ob_error **error)¶
Get usb connection type (DEPRECATED)
- Parameters
info – [in] Device Information
error – [out] Log error messages
- Returns
char* returns usb connection type
-
const char *ob_device_info_hardware_version(ob_device_info *info, ob_error **error)¶
Get hardware version number.
- Parameters
info – [in] Device Information
error – [out] Log error messages
- Returns
const char* returns hardware version number
-
const char *ob_device_info_supported_min_sdk_version(ob_device_info *info, ob_error **error)¶
Get the minimum SDK version number supported by the device.
-
const char *ob_device_info_asicName(ob_device_info *info, ob_error **error)¶
Get chip name.
-
ob_device_type ob_device_info_device_type(ob_device_info *info, ob_error **error)¶
Get device type.
-
uint32_t ob_camera_param_list_count(ob_camera_param_list *param_list, ob_error **error)¶
Get the number of camera parameter lists.
- Parameters
param_list – Camera parameter list
error – Log error messages
- Returns
uint32_t returns the number of lists
-
ob_camera_param ob_camera_param_list_get_param(ob_camera_param_list *param_list, uint32_t index, ob_error **error)¶
Get camera parameters from camera parameter list.
- Parameters
param_list – Camera parameter list
index – Parameter index
error – Log error messages
- Returns
ob_camera_param returns the camera parameters. Since it returns the structure object directly, there is no need to provide a delete interface.
-
void ob_delete_camera_param_list(ob_camera_param_list *param_list, ob_error **error)¶
Delete camera parameter list.
- Parameters
param_list – Camera parameter list
error – Log error messages
-
ob_status ob_error_status(ob_error *error)¶
Get error status.
- Parameters
error – [in] Error object
- Returns
ob_status returns error status
-
const char *ob_error_message(ob_error *error)¶
Get error information.
- Parameters
error – [in] Error object
- Returns
const char* returns an error message
-
const char *ob_error_function(ob_error *error)¶
Get error API function name.
- Parameters
error – [in] Error object
- Returns
const char* returns error function
-
const char *ob_error_args(ob_error *error)¶
Get error parameters.
- Parameters
error – [in] Error object
- Returns
const char* returns the error parameter
-
ob_exception_type ob_error_exception_type(ob_error *error)¶
Get error exception type.
- Parameters
error – [in] Error object
- Returns
ob_exception_type returns the error exception type
-
void ob_delete_error(ob_error *error)¶
Delete the error object.
- Parameters
error – [in] The error object to delete
-
ob_filter *ob_create_pointcloud_filter(ob_error **error)¶
Create PointCloud Filter.
- Parameters
error – [out] Log error messages
- Returns
filter pointcloud_filter object
-
void ob_pointcloud_filter_set_camera_param(ob_filter *filter, ob_camera_param param, ob_error **error)¶
PointCloud Filter device camera parameters.
- Parameters
filter – [in] pointcloud_filter object
param – [in] Camera parameters
error – [out] Log error messages
-
void ob_pointcloud_filter_set_point_format(ob_filter *filter, ob_format type, ob_error **error)¶
Set point cloud type parameters.
- Parameters
filter – [in] pointcloud_filter object
type – [in] Point cloud type: depth point cloud or RGBD point cloud
error – [out] Log error messages
-
void ob_pointcloud_filter_set_frame_align_state(ob_filter *filter, bool state, ob_error **error)¶
Set the alignment state of the frames that will be input to produce the point cloud.
-
ob_filter *ob_create_format_convert_filter(ob_error **error)¶
Create FormatConvet Filter.
- Parameters
error – [out] Log error messages
- Returns
filter format_convert object
-
void ob_format_convert_filter_set_format(ob_filter *filter, ob_convert_format type, ob_error **error)¶
Set the type of format conversion.
- Parameters
filter – [in] formatconvet_filter object
type – [in] Format conversion type
error – [out] Log error messages
-
void ob_filter_reset(ob_filter *filter, ob_error **error)¶
Filter reset, cache clear, state reset. If the asynchronous interface is used, the processing thread will also be stopped and the pending cache frames will be cleared.
- Parameters
filter – [in] filter object
error – [out] Log error messages
-
ob_frame *ob_filter_process(ob_filter *filter, ob_frame *frame, ob_error **error)¶
Filter processing (synchronous interface)
- Parameters
filter – [in] filter object
frame – [in] pointer to the frame object to be processed
error – [out] Log error messages
- Returns
ob_frame The frame object processed by the filter
-
void ob_filter_set_callback(ob_filter *filter, ob_filter_callback callback, void *user_data, ob_error **error)¶
Filter Set the processing result callback function (asynchronous callback interface)
- Parameters
filter – [in] filter object
callback – [in]
user_data – [in] Arbitrary user data pointer can be passed in and returned from the callback
error – [out] Log error messages
-
void ob_filter_push_frame(ob_filter *filter, ob_frame *frame, ob_error **error)¶
filter Push the frame into the pending cache (asynchronous callback interface)
- Parameters
filter – [in] filter object
error – [out] Log error messages
-
void ob_delete_filter(ob_filter *filter, ob_error **error)¶
Delete Filter.
- Parameters
filter – [in] filter object
error – [out] Log error messages
-
uint64_t ob_frame_index(ob_frame *frame, ob_error **error)¶
Get the frame index.
- Parameters
frame – [in] Frame object
error – [out] Log wrong message
- Returns
uint64_t returns the frame index
-
ob_format ob_frame_format(ob_frame *frame, ob_error **error)¶
Get the frame format.
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
ob_format returns the frame format
-
ob_frame_type ob_frame_get_type(ob_frame *frame, ob_error **error)¶
Get the frame type.
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
ob_frame_type returns the frame type
-
uint64_t ob_frame_time_stamp(ob_frame *frame, ob_error **error)¶
Get frame time stamp (hardware)
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
uint64_t returns the frame hardware timestamp
-
uint64_t ob_frame_time_stamp_us(ob_frame *frame, ob_error **error)¶
Get frame time stamp (hardware) us.
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
uint64_t returns the frame hardware timestamp, unit us
-
uint64_t ob_frame_system_time_stamp(ob_frame *frame, ob_error **error)¶
Get frame time stamp (system)
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
uint64_t returns the frame system timestamp
-
void *ob_frame_data(ob_frame *frame, ob_error **error)¶
Get frame data.
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
void* * returns frame data pointer
-
uint32_t ob_frame_data_size(ob_frame *frame, ob_error **error)¶
Get the frame data size.
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
uint32_t returns the frame data size If it is point cloud data, it returns the number of bytes occupied by all point sets. If you need to find the number of points, you need to divide dataSize by the structure size of the corresponding point type.
-
uint32_t ob_video_frame_width(ob_frame *frame, ob_error **error)¶
Get video frame width.
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
uint32_t returns the frame width
-
uint32_t ob_video_frame_height(ob_frame *frame, ob_error **error)¶
Get video frame height.
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
uint32_t returns the frame height
-
void *ob_video_frame_metadata(ob_frame *frame, ob_error **error)¶
Get the metadata of the frame.
- Parameters
frame – [in] Video frame object
error – [out] Log error messages
- Returns
void* returns the metadata pointer of the frame
-
uint32_t ob_video_frame_metadata_size(ob_frame *frame, ob_error **error)¶
Get the metadata size of the frame.
- Parameters
frame – [in] Video frame object
error – [out] Log error messages
- Returns
uint32_t returns the metadata size of the frame
-
uint8_t ob_video_frame_pixel_available_bit_size(ob_frame *frame, ob_error **error)¶
Get the effective number of pixels (such as Y16 format frame, but only the lower 10 bits are effective bits, and the upper 6 bits are filled with 0)
-
float ob_depth_frame_get_value_scale(ob_frame *frame, ob_error **error)¶
Get the value scale of the depth frame, the unit is mm/step, such as valueScale=0.1, and a certain coordinate pixel value is pixelValue=10000, then the depth value = pixelValue*valueScale = 10000*0.1=1000mm。
- Parameters
frame – [in] Frame object
error – [out] Log error messages
- Returns
float value scale
-
void ob_delete_frame(ob_frame *frame, ob_error **error)¶
Delete frame.
- Parameters
frame – [in] The frame object to delete
error – [out] Log error messages
-
uint32_t ob_frameset_frame_count(ob_frame *frameset, ob_error **error)¶
Get the number of frames contained in the frameset.
- Parameters
frameset – [in] frameset object
error – [out] Log error messages
- Returns
uint32_t returns the number of frames
-
ob_frame *ob_frameset_depth_frame(ob_frame *frameset, ob_error **error)¶
Get the depth frame from the frameset.
- Parameters
frameset – [in] Frameset object
error – [out] Log error messages
- Returns
ob_frame* returns the depth frame
-
ob_frame *ob_frameset_color_frame(ob_frame *frameset, ob_error **error)¶
Get the color frame from the frameset.
- Parameters
frameset – [in] Frameset object
error – [out] Log error messages
- Returns
ob_frame* returns the color frame
-
ob_frame *ob_frameset_ir_frame(ob_frame *frameset, ob_error **error)¶
Get the infrared frame from the frameset.
- Parameters
frameset – [in] Frameset object
error – [out] Log error messages
- Returns
ob_frame* returns the infrared frame
-
ob_frame *ob_frameset_points_frame(ob_frame *frameset, ob_error **error)¶
Get point cloud data from the frameset.
- Parameters
frameset – [in] Frameset object
error – [out] Log error messages
- Returns
ob_frame* returns the point cloud frame
-
ob_accel_value ob_accel_frame_value(ob_frame *frame, ob_error **error)¶
Get accelerometer frame data.
- Parameters
frame – [in] Accelerometer frame
error – [out] Log error messages
- Returns
ob_accel_value accelerometer data
-
float ob_accel_frame_temperature(ob_frame *frame, ob_error **error)¶
Get the temperature when acquiring the accelerometer frame.
- Parameters
frame – [in] Accelerometer frame
error – [out] Log error messages
- Returns
float return value
-
ob_gyro_value ob_gyro_frame_value(ob_frame *frame, ob_error **error)¶
Get gyroscope frame data.
- Parameters
frame – [in] Gyro Frame
error – [out] Log error messages
- Returns
ob_gyro_value gyroscope data
-
float ob_gyro_frame_temperature(ob_frame *frame, ob_error **error)¶
Get the temperature when acquiring the gyroscope frame.
- Parameters
frame – [in] Accelerometer frame
error – [out] Log error messages
- Returns
float return value
-
ob_pipeline *ob_create_pipeline(ob_error **error)¶
Create a pipeline object.
- Parameters
error – [out] Log error messages
- Returns
ob_pipeline* returns the pipeline object
-
ob_pipeline *ob_create_pipeline_with_device(ob_device *dev, ob_error **error)¶
Using device objects to create pipeline objects.
- Parameters
dev – [in] Device object used to create pipeline
error – [out] Log error messages
- Returns
ob_pipeline* returns the pipeline object
-
ob_pipeline *ob_create_pipeline_with_playback_file(const char *file_name, ob_error **error)¶
Use the playback file to create a pipeline object.
- Parameters
file_name – [in] The playback file path used to create the pipeline
error – [out] Log error messages
- Returns
ob_pipeline* returns the pipeline object
-
void ob_delete_pipeline(ob_pipeline *pipeline, ob_error **error)¶
Delete pipeline objects.
- Parameters
pipeline – [in] The pipeline object to be deleted
error – [out] Log error messages
-
void ob_pipeline_start(ob_pipeline *pipeline, ob_error **error)¶
Start the pipeline with default parameters.
- Parameters
pipeline – [in] pipeline object
error – [out] Log error messages
-
void ob_pipeline_start_with_config(ob_pipeline *pipeline, ob_config *config, ob_error **error)¶
Start the pipeline with configuration parameters.
- Parameters
pipeline – [in] pipeline object
config – [in] Parameters to be configured
error – [out] Log error messages
-
void ob_pipeline_start_with_callback(ob_pipeline *pipeline, ob_config *config, ob_frameset_callback callback, void *user_data, ob_error **error)¶
Start the pipeline and set the frame collection data callback.
- Parameters
pipeline – [in] pipeline object
config – [in] Parameters to be configured
callback – [in] Trigger a callback when all frame data in the frame set arrives
user_data – [in] Pass in any user data and get it from the callback
error – [out] Log error messages
-
void ob_pipeline_stop(ob_pipeline *pipeline, ob_error **error)¶
Stop pipeline.
- Parameters
pipeline – [in] pipeline object
error – [out] Log error messages
-
ob_config *ob_pipeline_get_config(ob_pipeline *pipeline, ob_error **error)¶
Get current pipeline parameters.
- Parameters
pipeline – [in] pipeline object
error – [out] Log error messages
- Returns
ob_config* returns pipeline parameters
-
ob_frame *ob_pipeline_wait_for_frameset(ob_pipeline *pipeline, uint32_t timeout_ms, ob_error **error)¶
Waiting for the return of a set of frames in the form of synchronous blocking.
- Parameters
pipeline – [in] pipeline object
timeout_ms – [in] Waiting timeout (ms)
error – [out] Log error messages
- Returns
ob_frame* returns the waiting frameset, frameset is a special frame, you can use the frameset related interface to obtain the independent frame in the set
-
ob_device *ob_pipeline_get_device(ob_pipeline *pipeline, ob_error **error)¶
Get device from the pipeline.
- Parameters
pipeline – [in] pipeline object
error – [out] Log error messages
- Returns
ob_device* returns the device object
-
ob_playback *ob_pipeline_get_playback(ob_pipeline *pipeline, ob_error **error)¶
Get playback object from pipeline.
- Parameters
pipeline – [in] pipeline objet
error – [out] Log error messages
- Returns
ob_playback* returns the playback object
-
ob_stream_profile_list *ob_pipeline_get_stream_profile_list(ob_pipeline *pipeline, ob_sensor_type sensorType, ob_error **error)¶
Get stream profile from the pipeline.
- Parameters
pipeline – [in] pipeline object
sensor_type – [in] sensor type, the sensor_type type supported by the camera can be obtained through the ob_device_get_sensor_list() interface
profile_count – [out] The number of stream configurations obtained
error – [out] Log error messages
- Returns
ob_stream_profile_list* returns to the stream profile list
-
void ob_pipeline_enable_frame_sync(ob_pipeline *pipeline, ob_error **error)¶
Enable frame synchronization.
- Parameters
pipeline – [in] pipeline object
error – [out] Log error messages
-
void ob_pipeline_disable_frame_sync(ob_pipeline *pipeline, ob_error **error)¶
Disable frame synchronization.
- Parameters
pipeline – [in] pipeline object
error – [out] Log error messages
-
void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *config, ob_error **error)¶
Dynamically switch the corresponding config configuration.
- Parameters
pipeline – [in] pipeline object
config – [in] pipeline configuration
error – [out] Log error messages
-
ob_camera_param ob_pipeline_get_camera_param(ob_pipeline *pipeline, ob_error **error)¶
Get current camera parameters.
-
ob_stream_profile_list *ob_get_d2c_depth_profile_list(ob_pipeline *pipeline, ob_stream_profile *color_profile, ob_align_mode align_mode, ob_error **error)¶
Returns a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution.
- Parameters
pipeline – [in] pipeline object
color_profile – [in] Input resolution of Color Sensor
align_mode – [in] Input align mode
error – [out] Log error messages
- Returns
ob_stream_profile_list*
-
ob_rect ob_get_d2c_valid_area(ob_pipeline *pipeline, uint32_t distance, ob_error **error)¶
Get valid area after D2C (DEPRECATED)
- Parameters
pipeline – [in] pipeline object
distance – [in] working distance
error – [out] Log error messages
- Returns
ob_rect returns the area information valid after D2C at working distance
-
void ob_pipeline_start_record(ob_pipeline *pipeline, const char *file_name, ob_error **error)¶
Start recording.
- Parameters
pipeline – [in] pipeline object
file_name – [in] Recorded file path
error – [out] Log error messages
-
void ob_pipeline_stop_record(ob_pipeline *pipeline, ob_error **error)¶
Turn off recording.
- Parameters
pipeline – [in] pipeline object
error – [out] Log error messages
-
ob_config *ob_create_config(ob_error **error)¶
Create the pipeline configuration.
- Parameters
error – [out] Log error messages
- Returns
ob_config* returns the configuration object
-
void ob_delete_config(ob_config *config, ob_error **error)¶
Delete the pipeline configuration.
- Parameters
config – [in] Configuration to be deleted
error – [out] Log error messages
-
void ob_config_enable_stream(ob_config *config, ob_stream_profile *profile, ob_error **error)¶
Configure the stream to be enabled.
- Parameters
config – [in] Configuration of pipeline
profile – [in] The configuration of the stream to be opened
error – [out] Log error messages
-
void ob_config_enable_all_stream(ob_config *config, ob_error **error)¶
Configure all streams to be enabled.
- Parameters
config – [in] Configuration of pipeline
error – [out] Log error messages
-
void ob_config_disable_stream(ob_config *config, ob_stream_type type, ob_error **error)¶
Configure the stream to be disabled.
- Parameters
config – [in] Configuration of pipeline
profile – [in] The configuration of the stream to be closed
error – [out] Log error messages
-
void ob_config_disable_all_stream(ob_config *config, ob_error **error)¶
Configure all streams to be disabled.
- Parameters
config – [in] Configuration of pipeline
error – [out] Log error messages
-
void ob_config_set_align_mode(ob_config *config, ob_align_mode mode, ob_error **error)¶
Set the alignment mode.
- Parameters
config – [in] config object
mode – [in] alignment mode
error – [out] Log error messages
-
ob_recorder *ob_create_recorder(ob_error **error)¶
Create a recorder for data recording.
- Parameters
error – [out] log error messages
- Returns
ob_recorder* returns the recorder object
-
ob_recorder *ob_create_recorder_with_device(ob_device *dev, ob_error **error)¶
Create a recorder for data recording.
- Parameters
dev – The device object used to create the recorder
error – [out] log error messages
- Returns
ob_recorder* returns the recorder object
-
void ob_delete_recorder(ob_recorder *recorder, ob_error **error)¶
delete recorder object
- Parameters
recorder – recorder object
error – [out] log error messages
-
void ob_recorder_start(ob_recorder *recorder, const char *filename, bool async, ob_error **error)¶
start recording
- Parameters
recorder – [in] recorder object
filename – [in] Recorded file name
async – [in] Whether to record asynchronously
error – [out] log error messages
-
void ob_recorder_stop(ob_recorder *recorder, ob_error **error)¶
stop recording
- Parameters
recorder – [in] recorder object
error – [out] log error messages
-
void ob_recorder_write_frame(ob_recorder *recorder, ob_frame *frame, ob_error **error)¶
Write frame data to the recorder.
- Parameters
recorder – [in] recorder object
frame – [in] Write frame data
error – [out] log error messages
-
ob_playback *ob_create_playback(const char *filename, ob_error **error)¶
Create playback object.
-
void ob_delete_playback(ob_playback *playback, ob_error **error)¶
delete playback object
- Parameters
playback – [in] playback object
error – [out] log error messages
-
void ob_playback_start(ob_playback *playback, ob_playback_callback callback, void *user_data, ob_media_type type, ob_error **error)¶
Start playback, playback data is returned from the callback.
- Parameters
playback – [in] playback object
callback – [in] Callback for playback data
user_data – [in] User data
type – [in] Type of playback data
error – [out] log error messages
-
void ob_playback_stop(ob_playback *playback, ob_error **error)¶
stop playback
- Parameters
playback – [in] playback object
error – [out] log error messages
-
void ob_set_playback_state_callback(ob_playback *playback, ob_media_state_callback callback, void *user_data, ob_error **error)¶
Set playback state.
-
ob_device_info *ob_playback_get_device_info(ob_playback *playback, ob_error **error)¶
Get the device information in the recording file.
- Parameters
playback – [in] playback object
error – [out] log error messages
- Returns
ob_device_info* returns device information
-
ob_camera_param ob_playback_get_camera_param(ob_playback *playback, ob_error **error)¶
Get the intrinsic and extrinsic parameter information in the recording file.
- Parameters
playback – [in] playback object
error – [out] log error messages
- Returns
ob_camera_param returns internal and external parameter information
-
ob_sensor_type ob_sensor_get_type(ob_sensor *sensor, ob_error **error)¶
Get sensor type.
- Parameters
sensor – [in] Sensor object
error – [out] Log error messages
- Returns
ob_sensor_type returns the sensor type
-
ob_stream_profile_list *ob_sensor_get_stream_profile_list(ob_sensor *sensor, ob_error **error)¶
Get all supported stream profiles.
- Parameters
sensor – [in] Sensor object
error – [out] Log error messages
- Returns
ob_stream_profile_list* returns a list of stream profiles
-
void ob_sensor_start(ob_sensor *sensor, ob_stream_profile *profile, ob_frame_callback callback, void *user_data, ob_error **error)¶
Open the current sensor, and set the callback data frame.
- Parameters
sensor – [in] Sensor object
profile – [in] Stream configuration information
callback – [in] Callback function triggered when frame data arrives
user_data – [in] pass in any user data and get it from the callback
error – [out] Log error messages
-
void ob_sensor_stop(ob_sensor *sensor, ob_error **error)¶
Stop sensor stream.
- Parameters
sensor – [in] sensor object
error – [out] Log error messages
-
void ob_sensor_switch_profile(ob_sensor *sensor, ob_stream_profile *profile, ob_error **error)¶
Dynamically switch resolutions.
- Parameters
sensor – [in] Sensor object
profile – [in] Stream configuration information
error – [out] Log error messages
-
void ob_delete_sensor_list(ob_sensor_list *sensor_list, ob_error **error)¶
Delete sensor object list.
- Parameters
sensor_list – [in] List of sensor objects to delete
error – [out] Log error messages
-
uint32_t ob_sensor_list_get_sensor_count(ob_sensor_list *sensor_list, ob_error **error)¶
Get the number of sensors in the sensor list.
- Parameters
sensor_list – [in] List of sensor objects to delete
count – [in] Number of sensors
error – [out] Log error messages
-
ob_sensor_type ob_sensor_list_get_sensor_type(ob_sensor_list *sensor_list, uint32_t index, ob_error **error)¶
Get the sensor types.
- Parameters
index – Sensor index
- Returns
OBSensorType returns the Sensor type
-
ob_sensor *ob_sensor_list_get_sensor_by_type(ob_sensor_list *sensor_list, ob_sensor_type sensorType, ob_error **error)¶
Get sensor by sensor type.
/**
- Parameters
sensor_list – Get the returned sensor list through device
sensorType – Sensor type to be obtained
- Returns
Return the Sensor pointer, if the specified type of Sensor does not exist, it will return null
-
ob_sensor *ob_sensor_list_get_sensor(ob_sensor_list *sensor_list, uint32_t index, ob_error **error)¶
Get Sensor by index number.
- Parameters
sensor_list – Get the returned sensor list through device
index – To create a device cable, the range is [0, count-1], if the index exceeds the range, an exception will be thrown
- Returns
std::shared_ptr<Sensor> returns the Sensor object
-
void ob_delete_sensor(ob_sensor *sensor, ob_error **error)¶
Delete sensor object.
- Parameters
sensor – [in] The sensor object to delete
error – [out] Log error messages
-
ob_format ob_stream_profile_format(ob_stream_profile *profile, ob_error **error)¶
Get stream profile format.
- Parameters
profile – [in] Stream configuration object
error – [out] Log error messages
- Returns
ob_format returns the format of the stream
-
ob_stream_type ob_stream_profile_type(ob_stream_profile *profile, ob_error **error)¶
Get stream profile type.
- Parameters
profile – [in] Stream configuration object
error – [out] Log error messages
- Returns
ob_stream_type stream type
-
uint32_t ob_video_stream_profile_fps(ob_stream_profile *profile, ob_error **error)¶
Get the frame rate of the video stream configuration.
- Parameters
profile – [in] Stream configuration object
error – [out] Log error messages
- Returns
uint32_t returns the frame rate of the stream
-
uint32_t ob_video_stream_profile_width(ob_stream_profile *profile, ob_error **error)¶
Get the width of the video stream configuration.
- Parameters
profile – [in] Stream configuration object, if the configuration is not a video stream configuration, an error will be returned
error – [out] Log error messages
- Returns
uint32_t returns the width of the stream
-
uint32_t ob_video_stream_profile_height(ob_stream_profile *profile, ob_error **error)¶
Get the height of the video stream configuration.
- Parameters
profile – [in] Stream configuration object, if the configuration is not a video stream configuration, an error will be returned
error – [out] Log error messages
- Returns
uint32_t returns the height of the stream
-
ob_accel_full_scale_range ob_accel_stream_profile_full_scale_range(ob_stream_profile *profile, ob_error **error)¶
Get scale range of accelerometer stream.
- Parameters
profile – [in] Stream configuration object, if the configuration is not the accelerometer stream configuration, an error will be returned
error – [out] Log error messages
- Returns
ob_accel_full_scale_range range
-
ob_accel_sample_rate ob_accel_stream_profile_sample_rate(ob_stream_profile *profile, ob_error **error)¶
Get sampling frequency of the accelerometer frame.
- Parameters
profile – [in] Stream configuration object, if the configuration is not the accelerometer stream configuration, an error will be returned
error – [out] Log error messages
- Returns
ob_accel_sample_rate sampling frequency
-
ob_gyro_full_scale_range ob_gyro_stream_profile_full_scale_range(ob_stream_profile *profile, ob_error **error)¶
Get scale range of gyroscope stream.
- Parameters
profile – [in] Stream configuration object, if the configuration is not a gyroscope stream configuration, an error will be returned
error – [out] Log error messages
- Returns
ob_gyro_full_scale_range range
-
ob_gyro_sample_rate ob_gyro_stream_profile_sample_rate(ob_stream_profile *profile, ob_error **error)¶
Get the sampling frequency of the gyro flow configuration.
- Parameters
profile – [in] Stream configuration object, if the configuration is not a gyroscope stream configuration, an error will be returned
error – [out] Log error messages
- Returns
ob_gyro_sample_rate sampling frequency
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ob_stream_profile *ob_stream_profile_list_get_video_stream_profile(ob_stream_profile_list *profile_list, int width, int height, ob_format format, int fps, ob_error **error)¶
Match the corresponding ob_stream_profile through the passed parameters. If there are multiple matches, the first one in the list will be returned by default. If no matched profile found, will return error!
- Parameters
profile_list – Resolution list
width – Width, if you don’t need to add matching conditions, you can pass 0
height – Height, if you don’t need to add matching conditions, you can pass 0
format – Format, if you don’t need to add matching conditions, you can pass OB_FORMAT_UNKNOWN
fps – Frame rate, if you don’t need to add matching conditions, you can pass 0
error – [out] Log error messages
- Returns
ob_stream_profile* returns the matching profile
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ob_stream_profile *ob_stream_profile_list_get_profile(ob_stream_profile_list *profile_list, int index, ob_error **error)¶
Get the corresponding StreamProfile by subscripting.
- Parameters
profile_list – [in] StreamProfile lists
index – [in]
error – [out] Log error messages
- Returns
ob_stream_profile* returns the matching profile
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uint32_t ob_stream_profile_list_count(ob_stream_profile_list *profile_list, ob_error **error)¶
Get the number of StreamProfile lists.
- Parameters
profile_list – [in] StreamProfile list
error – [out] Log error messages
- Returns
uint32_t returns the number of StreamProfile lists
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void ob_delete_stream_profile_list(ob_stream_profile_list *profile_list, ob_error **error)¶
Delete stream configuration list.
- Parameters
profiles – [in] Stream configuration list
error – [out] Log error messages
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void ob_delete_stream_profile(ob_stream_profile *profile, ob_error **error)¶
Delete stream configuration.
- Parameters
profile – [in] Stream configuration object
error – [out] Log error messages
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int ob_get_version()¶
Get the SDK version.
- Returns
int returns the SDK version
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int ob_get_major_version()¶
Get the SDK major version.
- Returns
int returns the SDK major version
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int ob_get_minor_version()¶
Get the SDK minor version.
- Returns
int returns the SDK minor version
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int ob_get_patch_version()¶
Get the SDK patch version.
- Returns
int returns the SDK patch version