Java API参考¶

namespace com::orbbec::obsensor¶

AccelFrame : public com.orbbec.obsensor.Frame

Acceleration streaming data frame

Public Functions

inline float[] getAccelData ()

Get acceleration frame data

Returns: float[3]{x,y,z} returns acceleration frame data

inline float getTemperature()¶

Get the temperature when the frame is sampled

Returns: temperature at frame sampling

enum AccelFullScaleRange¶

Accelerometer range enumeration

Public Functions

inline AccelFullScaleRange(int value)¶

inline int value()¶

Get the index corresponding to the accelerometer range

Returns: index value

Public Members

FS_2g =(1): 1x the acceleration of gravity

FS_4g =(2): 4 times the acceleration of gravity

FS_8g =(3): 8 times the acceleration of gravity

FS_16g =(4): 16 times the acceleration of gravity

Public Static Functions

static inline AccelFullScaleRange get(int value)¶

Get the range enumeration value corresponding to the specified index

Parameters: value – index value
Returns: Accelerometer range enumeration value

Private Members

final int mValue

AccelStreamProfile : public com.orbbec.obsensor.StreamProfile

Accelerometer Profile

Public Functions

inline AccelFullScaleRange getAccelFullScaleRange()¶

Get the range of the accelerometer configuration

Returns: Accelerometer range AccelFullScaleRange

inline SampleRate getAccelSampleRate()¶

Get the sampling frequency of the accelerometer stream configuration

Returns: Accelerometer sampling frequency SampleRate

enum AlignMode¶

D2C Status

Public Functions

inline AlignMode(int value)¶

inline int value()

Get the index corresponding to the data stream format

Returns: index value

Public Members

ALIGN_D2C_DISABLE =(0): Close D2C

ALIGN_D2C_HW_ENABLE =(1): Enable hardware D2C

ALIGN_D2C_SW_ENABLE =(2): Enable software D2C

Public Static Functions

static inline AlignMode get(int value)

Get the data stream format corresponding to the specified index

Parameters: value – index value
Returns: data stream format

Private Members

final int mValue

class CameraParam¶

Camera parameters

Public Functions

inline CameraIntrinsic getDepthIntrinsic()¶

Get depth camera internal parameters

Returns: Returns the depth camera intrinsic parameter CameraIntrinsic

inline CameraIntrinsic getColorIntrinsic()¶

Get color camera internal parameters

Returns: Returns the color camera intrinsic parameter CameraIntrinsic

inline CameraDistortion getDepthDistortion()¶

Get depth camera distortion parameters

Returns: Returns the depth camera distortion parameter CameraDistortion

inline CameraDistortion getColorDistortion()¶

Get color camera dewarping parameters

Returns: Returns the color camera dewarping parameter Distortion

inline D2CTransform getD2CTransform()¶

Get rotation/transformation matrix

Returns: Rotation/Transformation matrix D2CTransform

inline boolean isMirrored()¶

Whether the image frame corresponding to this group of parameters is mirrored

Returns: Whether the image frame corresponding to this group of parameters is mirrored

CameraParamList : public com.orbbec.obsensor.LobClass

Camera parameter list

Public Functions

inline int getCameraParamCount()¶

Get the number of camera parameters

Returns: The number of camera parameters

inline CameraParam getCameraParam(int index)¶

Obtain camera parameters according to the specified index in the camera parameter list

Parameters: index – index value
Returns: Camera parameter CameraParam

inline void close()¶: resource release

ColorFrame : public com.orbbec.obsensor.VideoFrame: Color stream data frame

CompressionFilter : public com.orbbec.obsensor.Filter

Public Functions

inline CompressionFilter()¶

Create compression filter

Returns: compression filter object

inline void setCompressionParams(CompressionMode mode, CompressionParams params)¶

Set compression parameters

Parameters

mode – Compression mode CompressionMode#OB_COMPRESSION_LOSSLESS or CompressionMode#OB_COMPRESSION_LOSSY
params – Compression params, struct ob_compression_params, when mode is OB_COMPRESSION_LOSSLESS, params is NULL

enum CompressionMode¶

Compression mode

Public Functions

inline CompressionMode(int value)¶

inline int value()

Get the index corresponding to the compression mode

Returns: index value

Public Members

OB_COMPRESSION_LOSSLESS =(0)

OB_COMPRESSION_LOSSY =(1)

Public Static Functions

static inline CompressionMode get(int value)

Get the compression mode corresponding to the specified index

Parameters: value – index value
Returns: compression mode

Private Members

final int mValue

Config : public com.orbbec.obsensor.LobClass

Used to configure Pipeline data flow status

Public Functions

inline Config()¶: Create a new pipeline configuration to configure the resolution and frame rate of the data stream and data stream that needs to be opened through the Pipeline

inline void enableStream(StreamProfile streamProfile)¶

Start the data stream of the specified configuration

See: Pipeline::getStreamProfileList(SensorType)

Parameters: streamProfile – Data flow configurationStreamProfile

inline void disableStream(StreamType streamType)¶

Close the data stream of the specified configuration, through this interface, you can configure which data stream needs to be closed

Parameters: streamType – Data stream configurationStreamType

inline void setAlignMode(AlignMode mode)¶

Set the alignment mode

Parameters: mode – AlignMode AlignMode

inline void setDepthScaleRequire(boolean enable)¶

Whether the depth needs to be scaled after setting D2C

Parameters: enable – Whether scaling is required

inline void setD2CTargetResolution(int width, int height)¶

Set the D2C target resolution, which is applicable to cases where the Color stream is not enabled using the OrbbecSDK and the depth needs to be D2C Note: When you use OrbbecSDK to enable the Color stream, you also use this interface to set the D2C target resolution. The configuration of the enabled Color stream is preferred for D2C。

Parameters

width – The D2C target has a wide resolution
height – The D2C targets has a high resolution

inline void close(): Release Config object resources

class DataType¶

Data type base class, used to represent the type of Native structure mapped to Java

Subclassed by com.orbbec.obsensor.datatype.CameraDistortion, com.orbbec.obsensor.datatype.CameraIntrinsic, com.orbbec.obsensor.datatype.CompressionParams, com.orbbec.obsensor.datatype.D2CTransform, com.orbbec.obsensor.datatype.DeviceTemperature, com.orbbec.obsensor.datatype.ExposureThresholdControl, com.orbbec.obsensor.datatype.OBRect

Public Functions

abstract int BYTES ()

Get the number of bytes occupied by the Native structure

Returns: The number of bytes occupied by the Native structure

inline boolean checkInitialized()¶

Check whether the corresponding Java class is initialized successfully

Returns: Whether the Java class is initialized, false: failure, true: success

DeCompressionFilter : public com.orbbec.obsensor.Filter

Public Functions

inline DeCompressionFilter()¶

Create decompression filter

Returns: decompression filter object

DepthFrame : public com.orbbec.obsensor.VideoFrame

Depth Streaming DataFrame

Public Functions

inline float getValueScale()¶

Get the value scale of the depth frame, the unit is mm/step, such as valueScale=0.1, the pixel value of a certain coordinate is pixelValue=10000, it means the depth value, value = pixelValue*valueScale = 10000*0.1=1000mm。

Returns: A scale value of depth frame

enum DepthPrecisionLevel¶

depth precision level

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

See: DepthFrame::getValueScale()

Public Functions

inline DepthPrecisionLevel(int value)¶

inline int value()

Get the index corresponding to the depth precision level

Returns: index value

Public Members

OB_PRECISION_1MM =(0): 1mm

OB_PRECISION_0MM8 =(1): 0.8mm

OB_PRECISION_0MM4 =(2): 0.4mm

OB_PRECISION_0MM1 =(3): 0.1mm

OB_PRECISION_0MM2 =(4): 0.2mm

OB_PRECISION_COUNT =(5)

Public Static Functions

static inline DepthPrecisionLevel get(int value)

Get the depth precision level corresponding to the specified index

Parameters: value – index value
Returns: depth precision level

Private Members

final int mValue

class DepthWorkMode¶

Depth work mode .

Public Functions

inline String getName()¶: Get name of work mode

inline void setName(String name)¶: Set name of work mode

inline byte[] getChecksum (): Get checksum of work mode

inline void setChecksum (byte[] checksum): Set checksum of work mode

inline String getChecksumHex()¶: Get hex string which come from getChecksum()

Device : public com.orbbec.obsensor.LobClass

Expose orbbec device functions

Public Functions

inline Device(long handle)¶

Initialize the device object by specifying the device handle

Parameters: handle – handle of the initialized device

inline List<DevicePropertyInfo> getSupportedPropertyList()¶

Get the list of property information supported by the device

Returns: List of property information supported by the device List<DevicePropertyInfo>

inline List<DepthPrecisionLevel> getSupportedDepthPrecisionLevelList()¶

Get list of DevicePrecisionLevel

Returns: list of DevicePrecisionLevel

inline boolean isPropertySupported(DeviceProperty property, PermissionType permissionType)¶

Query whether the device supports setting the specified device property

Parameters

property – Device property DeviceProperty
permissionType – Required permission type PermissionType

Returns

true supports, false does not support

inline void setPropertyValueB(DeviceProperty property, boolean value)¶

Set the value of the boolean type device property

Parameters

property – device property DeviceProperty
value – Set the value of the device property, boolean type

inline void setPropertyValueI(DeviceProperty property, int value)¶

Set the value of the int type device property

Parameters

property – device property DeviceProperty
value – Set the value of the device property, int type

inline void setPropertyValueF(DeviceProperty property, float value)¶

Set the value of the float type device property

Parameters

property – device property DeviceProperty
value – set the value of the device property, float type

inline void setPropertyValueDataType(DeviceProperty property, DataType dataType)¶

Set the data structure of the corresponding device properties

Parameters

property – device property DeviceProperty
dataType – device property data structure DataType

Throws

OBException – When there is an error in the encapsulation of the data structure to be set

inline boolean getPropertyValueB(DeviceProperty property)¶

Get the value of the boolean type device property

Parameters: property – device property DeviceProperty
Returns: The value of the device property, boolean type

inline int getPropertyValueI(DeviceProperty property)¶

Get the value of the int type device property

Parameters: property – device property DeviceProperty
Returns: The value of the device property, int type

inline float getPropertyValueF(DeviceProperty property)¶

Get the value of the float type device property

Parameters: property – device property DeviceProperty
Returns: The value of the device property, float type

inline void getPropertyValueDataType(DeviceProperty property, DataType dataType)¶

Get the data structure of the corresponding device properties

Parameters

property – device property DeviceProperty
dataType – device property data structure DataType

Throws

OBException – When there is an error in parsing the obtained data structure

inline int getMinRangeI(DeviceProperty property)¶

Get the minimum value supported by the int type device property

Parameters: property – device property DeviceProperty
Returns: The minimum value supported by the device property, int type

inline float getMinRangeF(DeviceProperty property)¶

Get the minimum value supported by the float type device property

Parameters: property – device property DeviceProperty
Returns: The minimum value supported by the device property, float type

inline int getMaxRangeI(DeviceProperty property)¶

Get the maximum value supported by the int type device property

Parameters: property – device property DeviceProperty
Returns: The maximum value supported by the device property, int type

inline float getMaxRangeF(DeviceProperty property)¶

Get the maximum value supported by the float type device property

Parameters: property – device DeviceProperty
Returns: The maximum value supported by the device property, float type

inline int getStepI(DeviceProperty property)¶

Get the step value at which the int type device property changes within the supported range

Parameters: property – device property DeviceProperty
Returns: The step value that changes within the range supported by the device property, int type

inline float getStepF(DeviceProperty property)¶

Get the step value at which the float type device property changes within the supported range

Parameters: property – device property DeviceProperty
Returns: The step value that changes within the range supported by the device property, float type

inline boolean getDefaultB(DeviceProperty property)¶

Get the default value of the boolean type device property

Parameters: property – device property DeviceProperty
Returns: The default value supported by the device property, boolean type

inline int getDefaultI(DeviceProperty property)¶

Get the default value of the int type device property

Parameters: property – device property DeviceProperty
Returns: The default value supported by the device property, int type

inline float getDefaultF(DeviceProperty property)¶

Get the default value of the float type device property

Parameters: property – device property DeviceProperty
Returns: The default value supported by the device property, float type

inline DeviceInfo getInfo()¶

Get device information

Returns: device information DeviceInfo

inline List<Sensor> querySensors()¶

Query the list of sensors contained in the device

Returns: Sensor list

inline Sensor getSensor(SensorType type)¶

Get the sensor of the specified type

Parameters: type – sensor type SensorType
Returns: sensor Sensor

inline boolean hasSensor(SensorType type)¶

Device is support SensorType

Parameters: type – sensorType
Returns: true: support sensorType, false: not support sensorType

inline void upgrade(String fileName, UpgradeCallback callback)¶

Upgrade device firmware Cautious: Not supported yet

Parameters

fileName – firmware path
callback – callback during the upgrade process UpgradeCallback

Throws

OBException – The firmware path is abnormal

inline void upgrade(ByteBuffer buffer, UpgradeCallback callback)¶

Upgrade device firmware

Parameters

buffer – Firmware file content Caution: ByteBuffer#capacity() is the valid data length.
callback – callback during the upgrade process UpgradeCallback

Throws

OBException – The firmware path is abnormal

inline void sendFileToDestination(String filePath, String dstPath, FileSendCallback callback)¶

Transfer files to the specified path

Parameters

filePath – source file path
dstPath – Target path
callback – File transfer callbackFileSendCallback

inline DeviceTemperature getDeviceTemperature()¶

Get device temperature information

Returns: temperature information DeviceTemperature

inline boolean activateAuthorization(String authCode)¶

Activate the device with an authorization code

Parameters: authCode – Authorization code
Returns: Whether the activation is successful, the activation succeeds: true, the activation fails: false

inline void setStateChangeListener(OnStateChangeListener listener)¶

Set device status monitoring

Parameters: listener – callback when device status changes OnStateChangeListener

inline void triggerCapture()¶

send the capture command to the device.

The device will start one time image capture after receiving the capture command when it is in the OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING

Attention: The frequency of the user call this function multiplied by the number of frames per trigger should be less than the frame rate of the stream. The number of frames per trigger can be set by framesPerTrigger.
Attention: For some models，receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling this function should not be too high, please refer to the product manual for the specific supported frequency.
Attention: If the device is not in the OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.

inline void setTimestampResetConfig(TimestampResetConfig config)¶: set the timestamp reset configuration of the device.

inline TimestampResetConfig getTimestampResetConfig()¶

get the timestamp reset configuration of the device.

Returns: OBDeviceTimestampResetConfig return the timestamp reset configuration of the device.

inline void timestampReset()¶

send the timestamp reset command to the device.

The device will reset the timer for calculating the timestamp for output frames to 0 after receiving the timestamp reset command when the timestamp reset function is enabled. The timestamp reset function can be enabled by call ob_device_set_timestamp_reset_config.

Before calling this function, user should call ob_device_set_timestamp_reset_config to disable the timestamp reset function (It is not required for some models, but it is still recommended to do so for code compatibility).

Attention: If the stream of the device is started, the timestamp of the continuous frames output by the stream will jump once after the timestamp reset.
Attention: Due to the timer of device is not high-accuracy, the timestamp of the continuous frames output by the stream will drift after a long time. User can call this function periodically to reset the timer to avoid the timestamp drift, the recommended interval time is 60 minutes.

inline void timerSyncWithHost()¶

synchronize the timer of the device with the host.

After calling this function, the timer of the device will be synchronized with the host. User can call this function to multiple devices to synchronize all timers of the devices.

Attention: If the stream of the device is started, the timestamp of the continuous frames output by the stream will may jump once after the timer sync.
Attention: Due to the timer of device is not high-accuracy, the timestamp of the continuous frames output by the stream will drift after a long time. User can call this function periodically to synchronize the timer to avoid the timestamp drift, the recommended interval time is 60 minutes.

inline CameraParamList getCalibrationCameraParamList()¶

Get the original parameter list of camera calibration saved in the device.

Attention: The parameters in the list do not correspond to the current open-current 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 Pipeline::getCameraParam() interface.

Returns: Camera parameter list CameraParamList

inline DepthWorkMode getCurrentDepthWorkMode()¶

Get current depth work mode.

Returns: ob_depth_work_mode Current depth work mode

inline void switchDepthWorkMode(String modeName)¶

Switch depth work mode by work mode name.

Parameters: modeName – Depth work mode name which equals to DepthWorkMode.name

inline List<DepthWorkMode> getDepthWorkModeList()¶: Request support depth work mode list.

inline OBNetworkConfig getNetworkConfig()¶: Get network config Only for some network device, Such as Gemini 2 XL,

inline void setNetworkConfig(OBNetworkConfig config)¶: Set network config Only for some network device, Such as Gemini 2 XL,

inline MultiDeviceSyncConfig getMultiDeviceSyncConfig()¶

get the multi device sync configuration of the device.

Returns: OBMultiDeviceSyncConfig return the multi device sync configuration of the device.

inline void setMultiDeviceSyncConfig(MultiDeviceSyncConfig deviceSyncConfig)¶

set the multi device sync configuration of the device.

Parameters: config – [in] The multi device sync configuration.

inline void reboot()¶: The device restarts. After the device restarts, the original device resources need to be released, and can be re-acquired after the device is reconnected.

inline void close(): release device resources

interface OnStateChangeListener¶

Device Status Monitoring

Public Functions

void onStateChange(DeviceStateType stateType, String msg)¶

Callback when device status changes

Parameters

stateType – state type
msg – state message

interface DeviceChangedCallback¶

Callback interface for registering listening device status

Public Functions

void onDeviceAttach(DeviceList deviceList)¶

Device addition notification and list

Parameters: deviceList – Add device list DeviceList

void onDeviceDetach(DeviceList deviceList)¶

Device removal notices and lists

Parameters: deviceList – Remove device list DeviceList

class DeviceInfo : public AutoCloseable¶

Device information

Public Functions

inline String getName()¶

Get device name

Returns: device name

inline int getPid()¶

Get device identification number

Returns: device identification number

inline int getVid()¶

Get the company identification number of the device

Returns: company identification number

inline String getUid()¶

Get device uid

Returns: Device Unique ID

inline String getSerialNumber()¶

Get device serial number

Returns: devise serial number

inline String getUsbType()¶

Get the USB type the device is connected to

Returns: The type of USB the device is connected to

inline String getConnectionType()¶

Get the connection type of device

Returns: The device connection type

inline String getIpAddress()¶

Get the IP address of the device.

Attention: Only valid for network devices, otherwise it will return “0.0.0.0”.

Returns: the IP address of the device, such as “192.168.1.10”

inline String getFirmwareVersion()¶

Get firmware version number

Returns: Returns the firmware version number

inline String getHardwareVersion()¶

Get the version number of the hardware

Returns: Returns the version number of the hardware

inline String getExtensionInfo()¶

Get information about extensions obtained from SDK supported by the device.

Returns: extended information about the device

inline String getSupportedMinSdkVersion()¶

Get the minimum version number of the SDK supported by the device

Returns: Returns the minimum SDK version number supported by the device

inline String getAsicName()¶

Get chip type name

Returns: Returns the chip type name

inline DeviceType getDeviceType()¶

Get device type

Returns: Returns the device type DeviceType

inline void close()¶: resource release

DeviceList : public com.orbbec.obsensor.LobClass

Device list

Public Functions

inline int getDeviceCount()¶

Get the number of devices

Returns: the number of devices

inline String getName(int index)¶

Get the device serial number according to the specified index in the device list

Parameters: index – index value
Returns: devise serial number

inline int getPid(int index)¶

Obtain the product identification number of the device according to the specified index in the device list

Parameters: index – index value
Returns: product identification number

inline int getVid(int index)¶

Obtain the identification number of the company which the device belongs according to the specified index in the device list

Parameters: index – index value
Returns: company identification number

inline String getUid(int index)¶

Obtain the unique ID of the device according to the specified index in the device list

Parameters: index – index value
Returns: Device Unique ID

inline String getDeviceSerialNumber(int index)¶

Get the device serial number according to the specified index in the device list

Parameters: index – index value
Returns: devise serial number

inline String getConnectionType(int index)¶

Get device connection type.

Parameters: index – device index
Returns: const char* returns connection type，currently supports：”USB”, “USB1.0”, “USB1.1”, “USB2.0”, “USB2.1”, “USB3.0”, “USB3.1”, “USB3.2”, “Ethernet”

inline String getIpAddress(int index)¶

get the ip address of the device at the specified index

Attention: Only valid for network devices, otherwise it will return “0.0.0.0”.

Parameters: index – the index of the device
Returns: the ip address of the device

inline String getExtensionInfo(int index)¶

Get the device extension information.

Parameters

info – [in] Device Information
index – [in] Device index
error – [out] Log error messages

Returns

const char* The device extension information

inline Device getDevice(int index)¶

Get the device object according to the specified index in the device list

Parameters: index – index value
Returns: designated device

inline Device getDeviceBySerialNumber(String serialNum)¶

Create a device, if the device has been acquired and created elsewhere, repeated acquisition will return an error

Parameters: serialNum – The serial number of the device to be created
Returns: Returns the created device Device

inline Device getDeviceByUid(String uid)¶

Create a device, if the device has been acquired and created elsewhere, repeated acquisition will return an error

Parameters: uid – The uid of the device to create
Returns: Returns the created device Device

inline void close(): resource release

enum DeviceProperty¶

Device Property

Public Functions

inline DeviceProperty(int value)¶

inline int value()

Get the index corresponding to the device property

Returns: index value

Public Members

OB_PROP_LDP_BOOL =(2): LDP switch

OB_PROP_LASER_BOOL =(3): laser switch

OB_PROP_LASER_PULSE_WIDTH_INT =(4): laser pulse width

OB_PROP_LASER_CURRENT_FLOAT =(5): Laser current (unit: mA)

OB_PROP_FLOOD_BOOL =(6): IR flood switch

OB_PROP_FLOOD_LEVEL_INT =(7): IR flood level

OB_PROP_DEPTH_MIRROR_BOOL =(14): depth mirror

OB_PROP_DEPTH_FLIP_BOOL =(15): depth flip

OB_PROP_DEPTH_POSTFILTER_BOOL =(16): depth post filter

OB_PROP_DEPTH_HOLEFILTER_BOOL =(17): depth hole filter

OB_PROP_IR_MIRROR_BOOL =(18): IR mirror

OB_PROP_IR_FLIP_BOOL =(19): IR flip

OB_PROP_MIN_DEPTH_INT =(22): minimum depth threshold

OB_PROP_MAX_DEPTH_INT =(23): maximum depth threshold

OB_PROP_DEPTH_SOFT_FILTER_BOOL =(24): Software filter switch

OB_PROP_LDP_STATUS_BOOL =(32): LDP status

OB_PROP_DEPTH_MAX_DIFF_INT =(40): soft filter maxdiff param

OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT =(41): soft filter maxSpeckleSize

OB_PROP_DEPTH_ALIGN_HARDWARE_BOOL =(42): Hardware d2c is on

OB_PROP_TIMESTAMP_OFFSET_INT =(43): time stamp adjustment

OB_PROP_HARDWARE_DISTORTION_SWITCH_BOOL =(61): Hardware de-distortion switch Rectify

OB_PROP_FAN_WORK_MODE_INT =(62): Fan switch mode

OB_PROP_DEPTH_ALIGN_HARDWARE_MODE_INT =(63): Multi-resolution D2C mode

OB_PROP_ANTI_COLLUSION_ACTIVATION_STATUS_BOOL =(64): Anti_collusion activation status

OB_PROP_DEPTH_PRECISION_LEVEL_INT =(75): The depth precision level may change the depth frame data unit. You need to confirm the setting parameters through the ValueScale interface of DepthFrame. Set parameter reference DepthPrecisionLevel#value() The obtained value can be converted through DepthPrecisionLevel#get(int)

OB_PROP_TOF_FILTER_RANGE_INT =(76): tof filter scene range configuration

OB_PROP_LASER_MODE_INT =(79): mx6600 laser lighting mode, the firmware only returns 1: IR Drive, 2: Torch at present

OB_PROP_RECTIFY2_BOOL =(80): mx6600 brt2r-rectify function switch (brt2r is a special module on mx6600), false: Disable, true: Rectify Enable

OB_PROP_COLOR_MIRROR_BOOL =(81): color mirror

OB_PROP_COLOR_FLIP_BOOL =(82): color flip

OB_PROP_INDICATOR_LIGHT_BOOL =(83): indicator light switch false: Disable， true: Enable

OB_PROP_DISPARITY_TO_DEPTH_BOOL =(85): Hardware parallax to depth switch, 0: Turn off the hardware parallax to depth switch, turn on the software parallax to depth switch 1.Turn on the hardware parallax to depth switch, turn off the software parallax to depth switch

OB_PROP_BRT_BOOL =(86): BRT function switch (anti-background interference), false: Disable, true: Enable

OB_PROP_WATCHDOG_BOOL =(87): Watchdog function switch, false: Disable, true: Enable

OB_PROP_EXTERNAL_SIGNAL_RESET_BOOL =(88): External signal triggers restart function switch, false: Disable, true: Enable

OB_PROP_HEARTBEAT_BOOL =(89): Heartbeat monitoring function switch, false: Disable, true: Enable

OB_PROP_DEPTH_CROPPING_MODE_INT =(90): Depth cropping mode device: OB_DEPTH_CROPPING_MODE_EM (currently only suitable for Longquan Sword)

OB_PROP_D2C_PREPROCESS_BOOL =(91): D2C preprocessing switch (such as RGB cropping), false: off, true: on

OB_PROP_RGB_CUSTOM_CROP_BOOL =(94): custom RGB cropping switch, 0 is off, 1 is on custom cropping, and the ROI cropping area is issued

OB_PROP_DEVICE_WORK_MODE_INT =(95): Device operating mode (power consumption)

OB_PROP_DEVICE_COMMUNICATION_TYPE_INT =(97): Device communication type, 0: USB; 1: Ethernet(RTSP)

OB_PROP_SWITCH_IR_MODE_INT =(98): Switch IR mode, 0: IR active mode, 1: IR passive mode

OB_PROP_LASER_ENERGY_LEVEL_INT =(99): Laser energy level

OB_PROP_LDP_MEASURE_DISTANCE_INT =(100): LDP’s measure distance, unit: mm

OB_PROP_TIMER_RESET_SIGNAL_BOOL =(104): Reset device time to zero

OB_PROP_TIMER_RESET_TRIGGLE_OUT_ENABLE_BOOL =(105): Enable send reset device time signal to other device. true: enable, false: disable

OB_PROP_TIMER_RESET_DELAY_US_INT =(106): Delay to reset device time, unit: us

OB_PROP_CAPTURE_IMAGE_SIGNAL_BOOL =(107): Signal to capture image

OB_PROP_IR_RIGHT_MIRROR_BOOL =(112): Right IR sensor mirror state

OB_PROP_CAPTURE_IMAGE_FRAME_NUMBER_INT =(113): Number frame to capture once a ‘OB_PROP_CAPTURE_IMAGE_SIGNAL_BOOL’ effect. range: [1, 255]

OB_PROP_IR_RIGHT_FLIP_BOOL =(114): Right IR sensor flip state. true: flip image, false: origin, default: false

OB_PROP_COLOR_ROTATE_INT =(115): Color sensor rotation, angle{0, 90, 180, 270}

OB_PROP_IR_ROTATE_INT =(116): IR/Left-IR sensor rotation, angle{0, 90, 180, 270}

OB_PROP_IR_RIGHT_ROTATE_INT =(117): Right IR sensor rotation, angle{0, 90, 180, 270}

OB_PROP_DEPTH_ROTATE_INT =(118): Depth sensor rotation, angle{0, 90, 180, 270}

OB_PROP_LASER_HW_ENERGY_LEVEL_INT =(119): Get hardware laser energy level which real state of laser element. OB_PROP_LASER_ENERGY_LEVEL_INT（99）will effect this command which it setting and changed the hardware laser energy level.

OB_PROP_USB_POWER_STATE_INT =(121): USB’s power state, enum type: OBUSBPowerState

OB_PROP_DC_POWER_STATE_INT =(122): DC’s power state, enum type: OBDCPowerState

OB_PROP_DEVICE_DEVELOPMENT_MODE_INT =(129)

Device development mode switch, optional modes can refer to the definition in OBDeviceDevelopmentMode,the default mode is OB_USER_MODE

Attention: The device takes effect after rebooting when switching modes.

OB_PROP_SYNC_SIGNAL_TRIGGER_OUT_BOOL =(130): Multi-DeviceSync synchronized signal trigger out is enable state. true: enable, false: disable

OB_PROP_RESTORE_FACTORY_SETTINGS_BOOL =(131)

Restore factory settings and factory parameters

Attention: This command can only be written, and the parameter value must be true. The command takes effect after restarting the device.

OB_PROP_BOOT_INTO_RECOVERY_MODE_BOOL =(132)

Enter recovery mode (flashing mode) when boot the device

Attention: The device will take effect after rebooting with the enable option. After entering recovery mode, you can upgrade the device system. Upgrading the system may cause system damage, please use it with caution.

OB_PROP_DEVICE_IN_RECOVERY_MODE_BOOL =(133): Query whether the current device is running in recovery mode (read-only)

OB_PROP_DEVICE_REBOOT_DELAY_INT =(142): Reboot device delay mode. Data type: uint32_t, Delay time unit: ms, range: [0, 8000).

OB_STRUCT_BASELINE_CALIBRATION_PARAM =(1002): Baseline calibration parameters

OB_STRUCT_DEVICE_TEMPERATURE =(1003): Device temperature

OB_STRUCT_TOF_EXPOSURE_THRESHOLD_CONTROL =(1024): TOF exposure threshold range

OB_STRUCT_DEVICE_SERIAL_NUMBER =(1035): get serial number

OB_STRUCT_DEVICE_TIME =(1037): get/set device time

OB_STRUCT_MULTI_DEVICE_SYNC_CONFIG =(1038): Multi-device synchronization mode and parameter configuration

OB_STRUCT_RGB_CROP_ROI =(1040): RGB cropping ROI

OB_STRUCT_DEVICE_IP_ADDR_CONFIG =(1041): Device IP address configuration

OB_STRUCT_CURRENT_DEPTH_ALG_MODE =(1043): The current camera depth mode

OB_STRUCT_DEPTH_PRECISION_SUPPORT_LIST =(1045): A list of depth accuracy levels, returning an array of uin16_t, corresponding to the enumeration definitions of the accuracy classes

OB_PROP_COLOR_AUTO_EXPOSURE_BOOL =(2000): Color camera auto exposure

OB_PROP_COLOR_EXPOSURE_INT =(2001): Color camera exposure adjustment

OB_PROP_COLOR_GAIN_INT =(2002): Color camera gain adjustment

OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL =(2003): Color camera automatic white balance

OB_PROP_COLOR_WHITE_BALANCE_INT =(2004): Color camera white balance adjustment

OB_PROP_COLOR_BRIGHTNESS_INT =(2005): Color camera brightness adjustment

OB_PROP_COLOR_SHARPNESS_INT =(2006): Color camera sharpness adjustment

OB_PROP_COLOR_SATURATION_INT =(2008): Color camera saturation adjustment

OB_PROP_COLOR_CONTRAST_INT =(2009): Color camera contrast adjustment

OB_PROP_COLOR_GAMMA_INT =(2010): Color camera gamma adjustment

OB_PROP_COLOR_ROLL_INT =(2011): Color camera image rotation

OB_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT =(2012): Color camera auto exposure priority

OB_PROP_COLOR_BACKLIGHT_COMPENSATION_INT =(2013): Color camera brightness compensation

OB_PROP_COLOR_HUE_INT =(2014): color camera color tint

OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT =(2015): Color camera power line frequency

OB_PROP_DEPTH_AUTO_EXPOSURE_BOOL =(2016): Automatic exposure of depth camera (infrared camera will be set synchronously under some models of devices)

OB_PROP_DEPTH_EXPOSURE_INT =(2017): Depth camera exposure adjustment (infrared cameras will be set synchronously under some models of devices)

OB_PROP_DEPTH_GAIN_INT =(2018): Depth camera gain adjustment (infrared cameras will be set synchronously under some models of devices)

OB_PROP_IR_AUTO_EXPOSURE_BOOL =(2025): Infrared camera auto exposure (depth camera will be set synchronously under some models of devices)

OB_PROP_IR_EXPOSURE_INT =(2026): Infrared camera exposure adjustment (some models of devices will set the depth camera synchronously)

OB_PROP_IR_GAIN_INT =(2027): Infrared camera gain adjustment (the depth camera will be set synchronously under some models of devices)

OB_PROP_IR_CHANNEL_DATA_SOURCE_INT =(2028): Select Infrared camera data source channel. If not support throw exception. 0 : IR stream from IR Left sensor; 1 : IR stream from IR Right sensor;

OB_PROP_DEPTH_RM_FILTER_BOOL =(2029): Depth effect dedistortion, true: on, false: off. mutually exclusive with D2C function, RM_Filter disable When hardware or software D2C is enabled.

OB_PROP_COLOR_MAXIMAL_GAIN_INT =(2030): Color camera maximal gain

OB_PROP_COLOR_MAXIMAL_SHUTTER_INT =(2031): Color camera shutter gain

OB_PROP_SDK_DEPTH_FRAME_UNPACK_BOOL =(3007): Depth data unpacking function switch (each open stream will be turned on by default, support RLE/Y10/Y11/Y12/Y14 format)

OB_PROP_SDK_IR_FRAME_UNPACK_BOOL =(3008): IR data unpacking function switch (each current will be turned on by default, support RLE/Y10/Y11/Y12/Y14 format)

OB_PROP_SDK_ACCEL_FRAME_TRANSFORMED_BOOL =(3009): Accel data conversion function switch (on by default)

OB_PROP_SDK_GYRO_FRAME_TRANSFORMED_BOOL =(3010): Gyro data conversion function switch (on by default)

OB_PROP_SDK_IR_LEFT_FRAME_UNPACK_BOOL =(3011): Left IR frame data unpacking function switch (each current will be turned on by default, support RLE/Y10/Y11/Y12/Y14 format)

OB_PROP_SDK_IR_RIGHT_FRAME_UNPACK_BOOL =(3012): Right IR frame data unpacking function switch (each current will be turned on by default, support RLE/Y10/Y11/Y12/Y14 format)

OB_RAW_DATA_CAMERA_CALIB_JSON_FILE =(4029): Calibration JSON file read from device (Femto Mega, read only)

Public Static Functions

static inline DeviceProperty get(int value)

Get the device properties corresponding to the specified index

Parameters: value – index value
Returns: device properties

Private Members

final int mValue

class DevicePropertyInfo¶

Characteristics used to describe each property

Public Functions

inline DeviceProperty getProperty()¶

get property

Returns: return property DeviceProperty

inline String getPropertyName()¶

get property name

Returns: return property name

inline PropertyType getPropertyType()¶

get property type

Returns: returns property type PropertyType

inline PermissionType getPermissionType()¶

Get the permission type of the property

Returns: Returns the attribute’s permission type PermissionType

enum DeviceStateType¶

Device Status Type

Public Members

NORMAL: The device is normal, the default value

WARN: Device high temperature warning

FATAL: Device overtemperature abnormality

enum DeviceType¶

Device Type

Public Functions

inline DeviceType(int value)¶

inline int value()

The index corresponding to the device type

Returns: index value

Public Members

OB_STRUCTURED_LIGHT_MONOCULAR_CAMERA =(0): monocular structured light camera

OB_STRUCTURED_LIGHT_BINOCULAR_CAMERA =(1): Binocular structured light camera

OB_TOF_CAMERA =(2): tof camera

Public Static Functions

static inline DeviceType get(int value)

Get the device type corresponding to the specified index

Parameters: value – index value
Returns: device type

Private Members

final int mValue

interface FileSendCallback¶

File transfer callback class

Public Functions

void onCallback(short state, short percent, String msg)¶

file transfer callback

Parameters

state – current state
msg – status information
percent – current status progress, percentage 0~100

Public Members

short FILE_TRAN_STAT_TRANSFER = 2¶: file transfer

short FILE_TRAN_STAT_DONE = 1¶: File transfer succeeded

short FILE_TRAN_STAT_PREPARE = 0¶: preparing

short FILE_TRAN_ERR_DDR = -1¶: DDR access failed

short FILE_TRAN_ERR_NOT_ENOUGH_SPACE = -2¶: Insufficient target space error

short FILE_TRAN_ERR_PATH_NOT_WRITABLE = -3¶: Destination path is not writable

short FILE_TRAN_ERR_MD5_ERROR = -4¶: MD5 checksum error

short FILE_TRAN_ERR_WRITE_FLASH_ERROR = -5¶: write flash error

short FILE_TRAN_ERR_TIMEOUT = -6¶: timeout error

Filter : public com.orbbec.obsensor.LobClass , public Cloneable

Base class for all filters

Subclassed by com.orbbec.obsensor.CompressionFilter, com.orbbec.obsensor.DeCompressionFilter, com.orbbec.obsensor.FormatConvertFilter, com.orbbec.obsensor.PointCloudFilter

Public Functions

inline Frame process(Frame frame)¶

Process the data frame to get the format converted data frame

Parameters: frame – The data frame to be converted
Returns: Formatted Frame

inline void reset()¶: Filter reset, after reset, you can reset the format of the filter for the processing of another format

inline void setCallback(FilterCallback callback)¶

Filter sets the processing result callback function (asynchronous callback interface)

Parameters: callback – filter callback

inline void pushFrame(Frame frame)¶

filter pushes frame_set into the pending buffer (asynchronous callback interface)

Parameters: frame – data frame

inline void close(): release data frame resources

interface FilterCallback¶

Filter callback

Public Functions

void onFrame(Frame frame)¶

dataframe callback

Parameters: frame – dataframe

enum Format¶

Enumeration value describing pixel format

Public Functions

inline Format(int value)¶

inline int value()

Get the index corresponding to the data stream format

Returns: index value

Public Members

YUYV =(0): YUYV format

YUY2 =(1): YUY2 format (the actual format is the same as YUYV)

UYVY =(2): UYVY format

NV12 =(3): NV12 format

NV21 =(4): NV21 format

MJPG =(5): MJPG encoding format

H264 =(6): H.264 encoding format

H265 =(7): H.265 encoding format

Y16 =(8): Y16 format, single channel 16bit depth

Y8 =(9): Y8 format, single channel 8bit depth

Y10 =(10): Y10 format, single channel 10bit depth (SDK will unpack into Y16 by default)

Y11 =(11): Y11 format, single channel 11bit depth (SDK will unpack into Y16 by default)

Y12 =(12): Y12 format, single channel 12bit depth (SDK will unpack into Y16 by default)

GRAY =(13): GRAY (the actual format is the same as YUYV)

HEVC =(14): HEVC encoding format (the actual format is the same as H265)

I420 =(15): I420 format

ACCEL =(16): Accelerometer data format

GYRO =(17): Gyroscope data format

POINT =(19): xyz 3D coordinate point format

RGB_POINT =(20): xyz 3D coordinate point format with RGB information

RLE =(21): RLE pressure test format (SDK will be unpacked into Y16 by default)

RGB888 =(22): RGB888 format

BGR =(23): BGR format (actual BRG888)

Y14 =(24): Y14 format, single channel 14bit depth (SDK will unpack into Y16 by default)

BGRA =(25): BGRA format

COMPRESSED =(26): Compression format

RVL =(27): RVL pressure test format (SDK will be unpacked into Y16 by default)

UNKNOWN =(0xff): unknown format

Public Static Functions

static inline Format get(int value)

Get the data stream format corresponding to the specified index

Parameters: value – index value
Returns: data stream format

Private Members

final int mValue

FormatConvertFilter : public com.orbbec.obsensor.Filter

FormatConvertFilter For data stream format conversion

Public Functions

inline FormatConvertFilter()¶: Create a format conversion filter

inline void setFormatType(FormatConvertType type)¶

Set the data stream conversion format

Parameters: type – Data Stream Transformation Format

enum FormatConvertType¶

for data stream format conversion

Public Functions

inline FormatConvertType(int value)¶

inline int value()

Get the data stream conversion format corresponding to a specific index value

Returns: index value

Public Members

FORMAT_YUYV_TO_RGB888 =(0): YUYV to RGB888

FORMAT_I420_TO_RGB888 =(1): I420 to RGB888

FORMAT_NV21_TO_RGB888 =(2): NV21 to RGB888

FORMAT_NV12_TO_RGB888 =(3): NV12 to RGB888

FORMAT_MJPEG_TO_I420 =(4): MJPG to I420

FORMAT_RGB888_TO_BGR =(5): RGB888 to BGR

FORMAT_MJPEG_TO_NV21 =(6): MJPG to NV21

FORMAT_MJPEG_TO_RGB888 =(7): MJPG to RG888

Public Static Functions

static inline FormatConvertType get(int value)

Get the data stream conversion format corresponding to the specified index

Parameters: value – index value
Returns: data stream format

Private Members

final int mValue

Frame : public com.orbbec.obsensor.LobClass , public Cloneable

The data frame in the data stream is the base class of ColorFrame, DepthFrame, IRFrame, VideoFrame, FrameSet

Subclassed by com.orbbec.obsensor.AccelFrame, com.orbbec.obsensor.FrameSet, com.orbbec.obsensor.GyroFrame, com.orbbec.obsensor.PointFrame, com.orbbec.obsensor.VideoFrame

Public Functions

inline long getSystemTimeStamp()¶

Get the system timestamp of the data frame, unit: ms

Returns: system timestamp

inline long getTimeStamp()¶

Get the device timestamp of the data frame, unit: ms

Returns: device timestamp

inline BigInteger getTimeStampUs()¶

Get the device timestamp of the data frame, unit: us

@history delete ‘long getTimeStampUs()’ because it wrong if encounter java long return from C native unsigned long long is overflow

Returns: device timestamp

inline FrameType getStreamType()¶

Get the data stream type to which the data frame belongs

Returns: Data stream type FrameType

inline Format getFormat()¶

Get the data stream format to which the data frame belongs

Returns: Data Stream Format

inline long getFrameIndex()¶

Get the sequence number of the data frame in the data stream

Returns: data frame number

inline int getDataSize()¶

Get the data size of the data frame

Returns: data size

inline int getData (byte[] buf)

Get the data of the dataframe

Parameters: buf – byte array to fill frame data
Returns: success, return the size of data had fill to buf; failed, return -1;

inline int getData(ByteBuffer directByteBuffer)¶

Get the data of the dataFrame

Parameters: directByteBuffer – ByteBuffer to fill frame data.
Returns: success, return the size of data had fill to buf; failed, return -1;

inline ByteBuffer getDirectBuffer()¶

Get the buffer of frame data

The buffer should be consumed before the frame closed

Returns: return the buffer of the frame data

inline int getMetadataSize()¶

Get the metadata size of the frame

Returns: Returns the metadata size of the frame

inline void getMetadata (byte[] metadata)

Get the metadata of the frame

Parameters: metadata – frame metadata

inline void close(): release data frame resources

interface FrameCallback¶

data frame callback interface

Public Functions

void onFrame(Frame frame)¶

Frame callback

Parameters: frame – Data frame

class FrameHelper¶

Public Static Functions

static inline Frame createFrameFromBuffer (Format format, int width, int height, byte[] buffer)

Create a frame object based on an externally created Buffer.

Parameters

format – frame object format
width – frame object width
height – frame object height
buffer – frame object buffer

Returns

frame object

static inline FrameSet createFrameSet()¶

Creates an empty frame collection object.

Returns: frameset object

static inline void pushFrame(Frame frameSet, FrameType frameType, Frame frame)¶

Populate the frame collection with frames of the corresponding type.

Parameters

frameSet – frameset object
frameType – the type of frame filled in
frame – the object that fills the frame

static inline void setFrameSystemTimestamp(Frame frame, long systemTimestamp)¶

Set the system timestamp of the frame.

Parameters

frame – object for frame settings
systemTimestamp – set by systemTimestamp

static inline void setFrameDeviceTimestamp(Frame frame, long deviceTimestamp)¶

Set the device timestamp of the frame.

Parameters

frame – object for frame settings
deviceTimestamp – set by deviceTimestamp

static inline void setFrameDeviceTimestampUs(Frame frame, long deviceTimestampUs)¶

Set the device timestamp of the frame.

Parameters

frame – object for frame settings
deviceTimestampUs – the device timestamp set (Us)

FrameSet : public com.orbbec.obsensor.Frame

Data frame set, including 0~N data frames

Public Functions

inline int getFrameCount()¶

Get the number of frames in a dataframe set

Returns: number of frames

inline DepthFrame getDepthFrame()¶

get depth data frame

Returns: depth data frame DepthFrame

inline ColorFrame getColorFrame()¶

Get color data frame

Returns: color data frame ColorFrame

inline IRFrame getIrFrame()¶

Get infrared data frame

Returns: Infrared data frame IRFrame

inline PointFrame getPointFrame()¶

Get point cloud data from a collection of frames

Returns: Return point cloud frame PointFrame

inline void close(): release dataframe set resources

interface FrameSetCallback¶

frameset callback interface

Public Functions

void onFrameSet(FrameSet frameSet)¶

Callback with a FrameSet

Parameters: frameSet – Data FrameSet

enum FrameType¶

Describe the Frame type enumeration value

Public Functions

inline FrameType(int value)¶

inline int value()

Get the index corresponding to the data frame type

Returns: index value

Public Members

VIDEO =(0): Video frames (infrared, color, depth frames are all video frames)

IR =(1): Infrared frame

COLOR =(2): color frame

DEPTH =(3): depth frame

ACCEL =(4): Accelerometer data frame

FRAME_SET =(5): Frame collection (internally contains a variety of data frames)

POINTS =(6): point cloud frame

GYRO =(7): Gyroscope data frame

IR_LEFT =(8): Left IR frame

IR_RIGHT =(9): Right IR frame

RAW_PHASE =(10): Rawphase frame

Public Static Functions

static inline FrameType get(int value)

Get the data frame type corresponding to the specified index

Parameters: value – index value
Returns: data frame type

Private Members

final int mValue

GyroFrame : public com.orbbec.obsensor.Frame

Gyroscope data frame

Public Functions

inline float[] getGyroData ()

Get gyroscope data

Returns: float[3]{x,y,z} returns acceleration data

inline float getTemperature()

Get the temperature when the frame is sampled

Returns: temperature at frame sampling

enum GyroFullScaleRange¶

Enumeration of gyroscope ranges

Public Functions

inline GyroFullScaleRange(int value)¶

inline int value()

Get the index corresponding to the gyro range

Returns: index value

Public Members

FS_16dps =(1): 16 degrees per second

FS_31dps =(2): 31 degrees per second

FS_62dps =(3): 62 degrees per second

FS_125dps =(4): 125 degrees per second

FS_250dps =(5): 250 degrees per second

FS_500dps =(6): 500 degrees per second

FS_1000dps =(7): 1000 degrees per second

FS_2000dps =(8): 2000 degrees per second

Public Static Functions

static inline GyroFullScaleRange get(int value)

Get the range enumeration value corresponding to the specified index of the gyroscope

Parameters: value – index value
Returns: Gyroscope range enumeration

Private Members

final int mValue

GyroStreamProfile : public com.orbbec.obsensor.StreamProfile

Gyro stream profile

Public Functions

inline GyroFullScaleRange getGyroFullScaleRange()¶

Get the range of the gyroscope configuration

Returns: Gyroscope range GyroFullScaleRange

inline SampleRate getGyroSampleRate()¶

Get the data sampling rate of the gyroscope configuration

Returns: Gyroscope data sample rate SampleRate

enum HPStatusCode¶

send data or receive data return status type

Public Functions

inline int value(): Get the int value of HPStatusCode

inline String toString()¶

Public Members

HP_STATUS_OK =(0): success

HP_STATUS_NO_DEVICE_FOUND =(1): No device found

HP_STATUS_CONTROL_TRANSFER_FAILED =(2): Transfer failed

HP_STATUS_UNKNOWN_ERROR =(0xffff): Unknown error

Public Static Functions

static inline HPStatusCode get(int value)

Get the sensor type corresponding to the specified index

Parameters: value – index value
Returns: sensor type

Private Functions

inline HPStatusCode(int value)¶

Private Members

final int mValue

IRFrame : public com.orbbec.obsensor.VideoFrame: IR frame

class LobClass : public AutoCloseable¶

SDK base class, loading core SDK Library

Subclassed by com.orbbec.obsensor.CameraParamList, com.orbbec.obsensor.Config, com.orbbec.obsensor.Device, com.orbbec.obsensor.DeviceList, com.orbbec.obsensor.Filter, com.orbbec.obsensor.Frame, com.orbbec.obsensor.OBContext, com.orbbec.obsensor.Pipeline, com.orbbec.obsensor.Playback, com.orbbec.obsensor.Recorder, com.orbbec.obsensor.Sensor, com.orbbec.obsensor.StreamProfile, com.orbbec.obsensor.StreamProfileList

Public Functions

inline long getHandle()¶

Get the current class handle

Returns: handle

enum LogSeverity¶

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

Public Functions

inline LogSeverity(int value)¶

inline int value()

Get the index corresponding to the log output level

Returns: index value

Public Members

DEBUG =(0): debug

INFO =(1): information

WARN =(2): warning

ERROR =(3): error

FATAL =(4): fatal error

NONE =(5): None (close LOG)

Public Static Functions

static inline LogSeverity get(int value)

Get the log output level corresponding to the specified index

Parameters: value – index value
Returns: log output level

Private Members

final int mValue

enum MediaState¶

Record playback status

Public Functions

inline MediaState(int value)¶

inline int value()

Get the index corresponding to the recording and playback status

Returns: index value

Public Members

OB_MEDIA_BEGIN =(0): start

OB_MEDIA_PAUSE =(1): pause

OB_MEDIA_RESUME =(2): recover

OB_MEDIA_END =(3): end

Public Static Functions

static inline MediaState get(int value)

Get the recording and playback status corresponding to the specified index

Parameters: value – index value
Returns: Record playback status

Private Members

final int mValue

interface MediaStateCallback¶

Playback Status Callback

Public Functions

void onState(MediaState state)¶

playback status callback

Parameters: state – playback status

enum MediaType¶

Playback data types

Public Functions

inline MediaType(int value)¶

inline int value()

Get the index corresponding to the data stream format

Returns: index value

Public Members

OB_MEDIA_COLOR_STREAM =(1): color stream

OB_MEDIA_DEPTH_STREAM =(2): depth stream

OB_MEDIA_IR_STREAM =(4): IR stream

OB_MEDIA_GYRO_STREAM =(8): gyro stream

OB_MEDIA_ACCEL_STREAM =(16): accel stream

OB_MEDIA_CAMERA_PARAM =(32): camera parameter

OB_MEDIA_DEVICE_INFO =(64): device information

OB_MEDIA_STREAM_INFO =(128): stream information

OB_MEDIA_ALL =(OB_MEDIA_COLOR_STREAM.value()| OB_MEDIA_DEPTH_STREAM.value()| OB_MEDIA_IR_STREAM.value()| OB_MEDIA_GYRO_STREAM.value()| OB_MEDIA_ACCEL_STREAM.value()| OB_MEDIA_CAMERA_PARAM.value()| OB_MEDIA_DEVICE_INFO.value()| OB_MEDIA_STREAM_INFO.value()): all types

Public Static Functions

static inline MediaType get(int value)

Get the data stream format corresponding to the specified index

Parameters: value – index value
Returns: data stream format

Private Members

final int mValue

class MultiDeviceSyncConfig¶

Device synchronization configuration .

Public Functions

inline SyncMode getSyncMode()¶: The sync mode of the device. .

inline void setSyncMode(SyncMode mode)¶: The sync mode of the device. .

inline int getDepthDelayUs()¶

The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.

Attention: This parameter is only valid for some models， please refer to the product manual for details.

inline void setDepthDelayUs(int delayUs)¶

The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.

Attention: This parameter is only valid for some models， please refer to the product manual for details.

inline int getColorDelayUs()¶

The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.

Attention: This parameter is only valid for some models， please refer to the product manual for details.

inline void setColorDelayUs(int delayUs)¶

The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.

Attention: This parameter is only valid for some models， please refer to the product manual for details.

inline int getTrigger2ImageDelayUs()¶

The delay time of the image capture after receiving the capture command or trigger signal in microseconds.

The depth and color images are captured synchronously as the product design and can not change the delay between the depth and color images.

Attention: For Orbbec Astra 2 device, this parameter is valid only when the triggerOutDelayUs is set to 0.
Attention: This parameter is only valid for some models to replace depthDelayUs and colorDelayUs, please refer to the product manual for details.

inline void setTrigger2ImageDelayUs(int delayUs)¶

The delay time of the image capture after receiving the capture command or trigger signal in microseconds.

The depth and color images are captured synchronously as the product design and can not change the delay between the depth and color images.

Attention: For Orbbec Astra 2 device, this parameter is valid only when the triggerOutDelayUs is set to 0.
Attention: This parameter is only valid for some models to replace depthDelayUs and colorDelayUs, please refer to the product manual for details.

inline boolean isTriggerOutEnable()¶

Trigger signal output enable flag.

After the trigger signal output is enabled, the trigger signal will be output when the capture command or trigger signal is received. User can adjust the delay time of the trigger signal output by triggerOutDelayUs.

Attention: For some models, the trigger signal output is always enabled and cannot be disabled.
Attention: If device is in the OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN or OB_MULTI_DEVICE_SYNC_MODE_STANDALONE mode, the trigger signal output is always disabled. Set this parameter to true will not take effect.

inline void setTriggerOutEnable(boolean triggerOutEnable)¶

Trigger signal output enable flag.

Attention: For some models, the trigger signal output is always enabled and cannot be disabled.
Attention: If device is in the OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN or OB_MULTI_DEVICE_SYNC_MODE_STANDALONE mode, the trigger signal output is always disabled. Set this parameter to true will not take effect.

inline int getTriggerOutDelayUs()¶

The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds.

Attention: For Orbbec Astra 2 device, only supported -1 and 0. -1 means the trigger signal output delay is automatically adjusted by the device, 0 means the trigger signal output is disabled.

inline void setTriggerOutDelayUs(int delayUs)¶

The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds.

Attention: For Orbbec Astra 2 device, only supported -1 and 0. -1 means the trigger signal output delay is automatically adjusted by the device, 0 means the trigger signal output is disabled.

inline int getFramesPerTrigger()¶

The frame number of each stream after each trigger in triggering mode.

Attention: This parameter is only valid when the triggering mode is set to OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING or OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING.
Attention: The trigger frequency multiplied by the number of frames per trigger cannot exceed the maximum frame rate of the stream profile which is set when starting the stream.

inline void setFramesPerTrigger(int frameNumPerTrigger)¶

The frame number of each stream after each trigger in triggering mode.

Attention: This parameter is only valid when the triggering mode is set to OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING or OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING.
Attention: The trigger frequency multiplied by the number of frames per trigger cannot exceed the maximum frame rate of the stream profile which is set when starting the stream.

enum OBCmdVersion¶

Command version associate with property id .

Public Members

CMD_VERSION_V0 =(0): version 1.0

CMD_VERSION_V1 =(1): version 2.0

CMD_VERSION_V2 =(2): version 3.0

CMD_VERSION_V3 =(3): version 4.0

OB_CMD_VERSION_NOVERSION =(0xfffe)

OB_CMD_VERSION_INVALID =(0xffff): Invalid version

Private Functions

inline OBCmdVersion(int value)¶

Private Members

final int iValue

OBContext : public com.orbbec.obsensor.LobClass

Orbbec SDK context, which can perform device monitoring, query, log management and version query

Public Functions

inline OBContext(Context context, DeviceChangedCallback callback)¶

Create SDK context, apply for authorization, and enable device listening

Parameters

context – For Android environment context, it is recommended to use the context of application
callback – Device listening DeviceChangedCallback

inline OBContext(Context context, String configPath, DeviceChangedCallback callback)¶

Create SDK context, apply for authorization, and enable device listening

Parameters

context – For Android environment context, it is recommended to use the context of application
configPath – Profile path
callback – Device listening DeviceChangedCallback

inline DeviceList queryDevices()¶

Query device list

Returns: Device List DeviceList

inline synchronized void setDevicesChangedCallback (DeviceChangedCallback callback)

Set device plug and unplug listener callback

Parameters: callback – Device plugging and unplugging monitor DeviceChangedCallback

inline synchronized void removeDevicesChangedCallback (): Remove device plug and unplug listener callback

inline void enableDeviceClockSync(long repeatIntervalMs)¶

Activates device clock synchronization to synchronize the clock of the host and all created devices (if supported).

Parameters: repeatIntervalMs – The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.

inline void enableNetDeviceEnumeration(boolean enable)¶

enable or disable net device enumeration.

after enable, the net device will be discovered automatically and can be retrieved by queryDeviceList. The default state can be set in the configuration file.

Attention: Net device enumeration by gvcp protocol, if the device is not in the same subnet as the host, it will be discovered but cannot be connected.

Parameters: enable – true to enable, false to disable

inline boolean isNetDeviceEnumerationEnable()¶: Network device enumeration is enable

inline Device createNetDevice(String address, int port)¶

Create a network device object.

Parameters

address – ip address
port – port

Returns

Target network device object

inline void close(): SDK Context resource release

Public Static Functions

static inline void setLoggerSeverity(LogSeverity severity)¶

Setting the level of the global log will affect both the log level output to the console and the log output to the file

Parameters: severity – Output log levelLogSeverity

static inline void setLoggerToConsole(LogSeverity severity)¶

Set log parameters and output to console

Parameters: severity – Log output level LogSeverity

static inline void setLoggerToFile(LogSeverity severity, String directory)¶

Set log parameters and output to the specified file

Parameters

severity – Log output level LogSeverity
directory – Save log file directory

static inline void setLoggerToFile(LogSeverity severity, String directory, long maxFileSize, long maxFileNum)¶

Set log parameters and output to the specified file

Parameters

severity – Log output level LogSeverity
directory – Save log file directory
maxFileSize – Max size of each log file, unit: MB
maxFileNum – Max log file number

static inline void loadLicense(String licenseFilePath, String key)¶

Internal API: Config SDK license path

Parameters

licenseFilePath – license file path
key – decrypt key,”OB_DEFAULT_DECRYPT_KEY” can be used to represent the default key

static inline String getVersionName()¶

Get SDK version name

Returns: SDK version name

static inline int getVersionCode()¶

Get SDK version number

Returns: SDK version number

static inline String getStageVersion()¶: Get sdk stage version. .

static inline String getCoreVersionName()¶

Get SDK kernel version name

Returns: SDK kernel version, major.minor.patch

static inline int getCoreVersionCode()¶

Get SDK kernel version number

Returns: Kernel version number

class OBDataBundle¶

class OBException : public RuntimeException¶

Exception thrown by Orbbec sdk

Public Functions

inline OBException()¶: Create Orbbec SDK exception

inline OBException(String message)¶

Create Orbbec SDK exception with specific information

Parameters: message – details

class OBNetworkConfig¶

Network config of IP v4

Public Functions

inline boolean isDhcpEnable()¶: DHCP status.

Note

true: static IP; false: DHCP

inline void setDhcpEnable(boolean dhcpEnable)¶: DHCP status.

inline String getIP()¶: IP address, IP v4

inline void setIP(String ip)¶: IP address, IP v4

inline String getMask()¶: Mask, IP v4

inline void setMask(String mask)¶: Mask, IP v4

inline String getGateway()¶: Gateway, IP v4

inline void setGateway(String gateway)¶: Gateway, IP v4

enum PermissionType¶

Enumeration used to describe access rights for properties

Public Functions

inline PermissionType(int value)¶

inline int value()

Get the index value corresponding to a specific property enumeration

Returns: index value

Public Members

OB_PERMISSION_DENY =(0): no access

OB_PERMISSION_READ =(1): readable

OB_PERMISSION_WRITE =(2): writable

OB_PERMISSION_READ_WRITE =(3): can read and write

Public Static Functions

static inline PermissionType get(int value)

Get the attribute value corresponding to the specified index, read and write permission type enumeration

Parameters: value – index value
Returns: property enumeration

Private Members

final int mValue

Pipeline : public com.orbbec.obsensor.LobClass

pipeline: used to control data, it conflicts with the start method of the Sensor class, and the start method cannot be used to start the data stream at the same time. Additional operations can be extended, such as setting high-level interfaces such as data frame synchronization

Public Functions

inline Pipeline(Device device)¶

Use the specified device to create a Pipeline. To create a Pipeline through this interface, you need to create the corresponding device first.

See: DeviceList::getDevice(int)

inline Pipeline(String playbackFile)¶

Use the playback file to create a pipeline object

Parameters: playbackFile – The playback file path used to create the pipeline

inline void start(Config config)¶

Open the data stream of the specified configuration. If you need to use the configuration in the configuration file to open the stream, pass null to config (if there is no configuration file in the case of config passing null, the first one in the open flow configuration list is used by default to open the stream. )

Note: If the pipeline is created by playback file, it means start playback, at this time, config can pass null

Parameters: config – pipeline configuration Config

inline void start(Config config, FrameSetCallback callback)¶

Open the data stream of the specified configuration, and set the callback of the data frame set. If you need to use the configuration in the configuration file to open the stream, pass null to config (if there is no configuration file in the case of config passing null, the open stream configuration list is used by default. the first to open flow)

Note: If the pipeline is created by the playback file, it means that the playback starts in the callback mode. At this time, config can pass null.

Important: After the callback data frame is used up, FrameSet::close() and Frame::close() must be called to release resources.

Parameters

config – pipeline configuration Config
callback – Data frame set callback FrameSetCallback

inline void stop()¶: stop data stream

inline FrameSet waitForFrameSet(long timeoutMilliseconds)¶

Query method to obtain data frame set Important: frameset must be called after the data frame is used, Close() and frame Close() releases resources

Parameters: timeoutMilliseconds – wait timeout
Returns: Data frameset FrameSet

inline Config getConfig()¶

Get the current pipeline configuration, which is configured by the start method

Returns: pipeline configuration Config

inline void enableFrameSync()¶: Enable frame sync

inline void disableFrameSync()¶: disable frame sync

inline StreamProfileList getStreamProfileList(SensorType sensorType)¶

Get the dataflow configuration supported by the specified sensor type

Parameters: sensorType – Sensor TypeSensorType
Returns: stream profile list StreamProfileList

inline void switchConfig(Config config)¶

Dynamically switch the corresponding config configuration

Parameters: config – pipeline configuration Config

inline StreamProfileList getD2CDepthProfileList(StreamProfile colorProfile, AlignMode mode)¶

Returns a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution

Parameters

colorProfile – Input color sensor resolution StreamProfile
mode – The align mode of D2C AlignMode

Returns

a configuration list of matching depths

inline OBRect getD2CValidArea(int distance)¶

Valid area after getting D2C

Parameters: distance – Working distance(mm)
Returns: Returns the area information valid after D2c at the working distance OBRect

inline OBRect getD2CRangeValidArea(int minimumDistance, int maximumDistance)¶

Get valid area between minimum distance and maximum distance after D2C

Parameters

minimumDistance – minimum working distance(mm)
maximumDistance – maximum working distance(mm)

Returns

returns the area information valid after D2C at working distance

inline CameraParam getCameraParam()¶

Get the camera parameters after D2C. When the pipeline is created by the playback file, the camera internal parameters of the playback device are obtained

Returns: Returns the aligned camera internal parameter CameraParam

inline CameraParam getCameraParamWithProfile(int colorWidth, int colorHeight, int depthWidth, int depthHeight)¶: Get camera parameters by entering color and depth resolution.

inline void startRecord(String filePath)¶

Start recording

Parameters: filePath – Recorded file path

inline void stopRecord()¶: stop recording

inline Playback getPlayback()¶

Get playback object from pipeline

Returns: Returns the playback object Playback

inline void close(): pipeline resource release

Playback : public com.orbbec.obsensor.LobClass

Data Playback

Public Functions

inline Playback(String filePath)¶

Create playback

Parameters: filePath – playback file path

inline void start(PlaybackCallback callback, MediaType mediaType)¶

Start playback, playback data is returned from the callback

Parameters

callback – Callback for playback data PlaybackCallback
mediaType – Type of playback data MediaType

inline void stop(): stop playback

inline DeviceInfo getDeviceInfo()¶

Get device information

Returns: returns device information DeviceInfo

inline CameraParam getCameraParam()

Get the intrinsic and extrinsic parameter information in the recording file

Returns: returns internal and external parameter information CameraParam

inline void setMediaStateCallback(MediaStateCallback callback)¶

Set media state callback

Parameters: callback – media state callback

inline void close(): Release callback resource

interface PlaybackCallback¶

Data frame playback callback interface

Public Functions

void onPlayback(Frame frame)¶

Data frame playback callback

Parameters: frame – Data Frame

PointCloudFilter : public com.orbbec.obsensor.Filter

PointCloudFilter used to generate normal point cloud data, RGB point cloud data

Public Functions

inline PointCloudFilter()¶: Create point cloud filter

inline void setPointFormat(Format format)¶

Set the generated point cloud format

Parameters: format – point cloud format Format

inline void setCameraParam(CameraParam param)¶

PointCloud Filter device camera parameters

Parameters: param – Camera parameter CameraParam

inline void setD2CAlignStatus(boolean isAlign)¶

Set D2C alignment state

Parameters: isAlign – D2C alignment status, true: aligned, false: not aligned

inline void setPositionDataScale(float scale)¶

Set the point cloud data scaling factor

Parameters: scale – Set the point cloud coordinate data zoom factor

inline void setColorDataNormalization(boolean state)¶

Set point cloud color data normalization

Parameters: state – Sets whether the point cloud color data is normalized

PointFrame : public com.orbbec.obsensor.Frame

Point cloud frame

Public Functions

inline void getPointCloudData (float[] data)

Return point cloud frame data

Parameters: data – Data returned by point cloud frame

enum PropertyType¶

Property Type Description

Public Functions

inline PropertyType(int value)¶

inline int value()

Get the index value corresponding to a specific property enumeration

Returns: index value

Public Members

BOOL_PROPERTY =(0): property of boolean data

INT_PROPERTY =(1): property of int data

FLOAT_PROPERTY =(2): property of float data

STRUCT_PROPERTY =(3): Properties corresponding to the underlying structure type data

Public Static Functions

static inline PropertyType get(int value)

Get the property value type enumeration corresponding to the specified index

Parameters: value – index value
Returns: property enumeration

Private Members

final int mValue

RawPhaseFrame : public com.orbbec.obsensor.VideoFrame: Define the RawPhaseFrame class, which inherits from the VideoFrame class .

Recorder : public com.orbbec.obsensor.LobClass

data recorder

Public Functions

inline Recorder()¶: Create a recorder

inline Recorder(Device device)¶

Create a recorder by specifying a device

Parameters: device – device Device

inline void start(String fileName, boolean async)¶

start recording

Parameters

fileName – Recorded file name
async – Whether to record asynchronously

inline void stop(): Stop recording

inline void writeFrame(Frame frame)¶

Write frame data to the recorder

Parameters: frame – Written frame data Frame

inline void close(): release recorder resources

enum SampleRate¶

Enumeration of IMU sample rate values (gyroscope or accelerometer)

Public Functions

inline SampleRate(int value)¶

inline int value()

Get the accelerometer or gyroscope sampling frequency enumeration value

Returns: index value

Public Members

ODR_1_5625_HZ =(1): 1.5625Hz

ODR_3_125_HZ =(2): 3.125Hz

ODR_6_25_HZ =(3): 6.25Hz

ODR_12_5_HZ =(4): 12.5Hz

ODR_25_HZ =(5): 25Hz

ODR_50_HZ =(6): 50Hz

ODR_100_HZ =(7): 100Hz

ODR_200_HZ =(8): 200Hz

ODR_500_HZ =(9): 500Hz

ODR_1_KHZ =(10): 1KHz

ODR_2_KHZ =(11): 2KHz

ODR_4_KHZ =(12): 4KHz

ODR_8_KHZ =(13): 8KHz

ODR_16_KHZ =(14): 16KHz

ODR_32_KHZ =(15): 32Hz

Public Static Functions

static inline SampleRate get(int value)

Get accelerometer or gyroscope sampling frequency enumeration

Parameters: value – index value
Returns: Accelerometer or gyroscope sampling frequency enumeration

Private Members

final int mValue

Sensor : public com.orbbec.obsensor.LobClass

Expose orbbec sensor function

Public Functions

inline SensorType getType()¶

Get sensor type

Returns: Sensor Type SensorType

inline StreamProfileList getStreamProfileList()¶

Get the data stream configuration information supported by the sensor

Returns: The list of data stream configuration information supported by the sensor StreamProfileList

inline void start(StreamProfile profile, FrameCallback callback)¶

Open the sensor data stream, it cannot be used with the pipeline at the same time. If the configuration in the configuration file is used to open the stream, the profile will pass null (if there is no configuration file when the null is passed, the first configuration in the configuration file list will be used by default. )

Important: After the callback data frame is used up, Frame.close() must be called to release resources.

Parameters

profile – Data stream configuration StreamProfile
callback – Data callback FrameCallback

inline void stop(): turn off sensor data stream

inline void switchProfile(StreamProfile profile)¶

Dynamically switch resolutions

Parameters: profile – resolution that needs to be switched StreamProfile

inline void close(): release sensor resources

enum SensorType¶

Enumeration value describing the sensor type

Public Functions

inline SensorType(int value)¶

inline int value()

Get the index corresponding to the sensor type

Returns: index value

Public Members

UNKNOWN =(0): Unknown type sensor

IR =(1): infrared

COLOR =(2): color

DEPTH =(3): depth

ACCEL =(4): accelerometer

GYRO =(5): gyro

IR_LEFT =(6): Left IR

IR_RIGHT =(7): Right IR

RAW_PHASE =(8): Raw Phase

Public Static Functions

static inline SensorType get(int value)

Get the sensor type corresponding to the specified index

Parameters: value – index value
Returns: sensor type

Private Members

final int mValue

StreamProfile : public com.orbbec.obsensor.LobClass

Data stream configuration base class

Subclassed by com.orbbec.obsensor.AccelStreamProfile, com.orbbec.obsensor.GyroStreamProfile, com.orbbec.obsensor.VideoStreamProfile

Public Functions

inline Format getFormat()

Get data stream format

Returns: stream format Format

inline StreamType getType()

Get data stream type

Returns: stream type StreamType

inline void close(): resources release

StreamProfileList : public com.orbbec.obsensor.LobClass

stream profile list

Public Functions

inline int getStreamProfileCount()¶

get stream profile count

Returns: stream profile count

inline StreamProfile getStreamProfile(int index)¶

Get the configuration according to the specified index in the stream configuration list

Parameters: index – index value
Returns: stream configuration StreamProfile

inline VideoStreamProfile getVideoStreamProfile(int width, int height, Format format, int fps)¶

Match the corresponding StreamProfile through the passed parameters, if there are multiple matches, the first one in the list will be returned by default

Parameters

width – Width, if no matching width is required, pass 0
height – Height, if no matching height is required, pass 0
format – Type Format , if no matching type is required, pass Format#UNKNOWN
fps – Frame rate, pass 0 if there is no need to match the frame rate

Returns

Returns the matching stream configuration

inline void close(): resources release

enum StreamType¶

Enumeration value describing the type of data stream

Public Functions

inline StreamType(int value)¶

inline int value()

Get the index corresponding to the data stream type

Returns: index value

Public Members

VIDEO =(0): Video stream (infrared, color, depth streams are all video streams)

IR =(1): infrared stream

COLOR =(2): color stream

DEPTH =(3): depth stream

ACCEL =(4): Accelerometer data stream

GYRO =(5): Gyroscope data stream

IR_LEFT =(6): Left IR stream

IR_RIGHT =(7): Right IR stream

RAW_PHASE =(8): RawPhase Stream

Public Static Functions

static inline StreamType get(int value)

Get the data stream type corresponding to the specified index

Parameters: value – index value
Returns: data stream type

Private Members

final int mValue

enum SyncMode¶

The synchronization mode of the device.

Public Functions

inline SyncMode(int value)¶

inline int value(): Enum value of int

Public Members

OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN =(1 << 0)

free run mode

The device does not synchronize with other devices,

The Color and Depth can be set to different frame rates.

OB_MULTI_DEVICE_SYNC_MODE_STANDALONE =(1 << 1)

standalone mode

The device does not synchronize with other devices.

The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized.

OB_MULTI_DEVICE_SYNC_MODE_PRIMARY =(1 << 2)

primary mode

The device is the primary device in the multi-device system, it will output the trigger signal via VSYNC_OUT pin on synchronization port by default.

The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by colorDelayUs, depthDelayUs or trigger2ImageDelayUs.

OB_MULTI_DEVICE_SYNC_MODE_SECONDARY =(1 << 3)

secondary mode

The device is the secondary device in the multi-device system, it will receive the trigger signal via VSYNC_IN pin on synchronization port. It will out the trigger signal via VSYNC_OUT pin on synchronization port by default.

The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by colorDelayUs, depthDelayUs or trigger2ImageDelayUs.

After starting the stream, the device will wait for the trigger signal to start capturing images, and will stop capturing images when the trigger signal is stopped.

Attention: The frequency of the trigger signal should be same as the frame rate of the stream profile which is set when starting the stream.

OB_MULTI_DEVICE_SYNC_MODE_SECONDARY_SYNCED =(1 << 4)

secondary synced mode

The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by colorDelayUs, depthDelayUs or trigger2ImageDelayUs.

After starting the stream, the device will be immediately start capturing images, and will adjust the capture time when the trigger signal is received to synchronize with the primary device. If the trigger signal is stopped, the device will still capture images.

Attention: The frequency of the trigger signal should be same as the frame rate of the stream profile which is set when starting the stream.

OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING =(1 << 5)

software triggering mode

The device will start one time image capture after receiving the capture command and will output the trigger signal via VSYNC_OUT pin by default. The capture command can be sent form host by call ob_device_trigger_capture. The number of images captured each time can be set by framesPerTrigger.

The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by colorDelayUs, depthDelayUs or trigger2ImageDelayUs.

The frequency of the user call ob_device_trigger_capture to send the capture command multiplied by the number of frames per trigger should be less than the frame rate of the stream profile which is set when starting the stream.

OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING =(1 << 6)

hardware triggering mode

The device will start one time image capture after receiving the trigger signal via VSYNC_IN pin on synchronization port and will output the trigger signal via VSYNC_OUT pin by default. The number of images captured each time can be set by framesPerTrigger.

The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by colorDelayUs, depthDelayUs or trigger2ImageDelayUs.

Attention: The frequency of the trigger signal multiplied by the number of frames per trigger should be less than the frame rate of the stream profile which is set when starting the stream.
Attention: The trigger signal input via VSYNC_IN pin on synchronization port should be ouput by other device via VSYNC_OUT pin in hardware triggering mode or software triggering mode.
Attention: Due to different models may have different signal input requirements, please do not use different models to output trigger signal as input-trigger signal.

Public Static Functions

static inline SyncMode get(int value): Convert int value to SyncMode

Private Members

final int mValue

class TimestampResetConfig¶

The timestamp reset configuration of the device.

Public Functions

inline boolean isEnable()¶

Whether to enable the timestamp reset function.

If the timestamp reset function is enabled, the timer for calculating the timestamp for output frames will be reset to 0 when the timestamp reset command or timestamp reset signal is received, and one timestamp reset signal will be output via TIMER_SYNC_OUT pin on synchronization port by default. The timestamp reset signal is input via TIMER_SYNC_IN pin on the synchronization port.

Attention: For some models, the timestamp reset function is always enabled and cannot be disabled.

inline void setEnable(boolean enable)¶

Whether to enable the timestamp reset function.

Attention: For some models, the timestamp reset function is always enabled and cannot be disabled.

inline int getTimestampResetDelayUs()¶: The delay time of executing the timestamp reset function after receiving the command or signal in microseconds. .

inline void setTimestampResetDelayUs(int delayUs)¶: The delay time of executing the timestamp reset function after receiving the command or signal in microseconds. .

inline boolean isTimestampResetSignalOutputEnable()¶

the timestamp reset signal output enable flag.

Attention: For some models, the timestamp reset signal output is always enabled and cannot be disabled.

inline void setTimestampResetSignalOutputEnable(boolean enable)¶

the timestamp reset signal output enable flag.

Attention: For some models, the timestamp reset signal output is always enabled and cannot be disabled.

interface UpgradeCallback¶

Firmware upgrade callback class

Public Functions

void onCallback(short state, short percent, String msg)¶

Firmware upgrade callback

Parameters

state – current state
msg – status information
percent – Current status progress, percentage 0~100

Public Members

short STAT_FILE_TRANSFER = 4¶: Firmware file transfer status

short STAT_DONE = 3¶: Firmware upgrade complete

short STAT_IN_PROGRESS = 2¶: Firmware upgrade in progress

short STAT_START = 1¶: Firmware upgrade starts

short STAT_VERIFY_IMAGE = 0¶: Firmware file verification

short ERR_VERIFY = -1¶: Firmware file verification failed

short ERR_PROGRAM = -2¶: program error

short ERR_ERASE = -3¶: Erase failed

short ERR_FLASH_TYPE = -4¶: flash type failed

short ERR_IMG_SIZE = -5¶: Firmware file size failed

short ERR_OTHER = -6¶: other errors

short ERR_DDR = -7¶: DDR error

short ERR_TIMEOUT = -8¶: Upgrade timed out

VideoFrame : public com.orbbec.obsensor.Frame

Base class for ColorFrame, DepthFrame, IRFrame

Subclassed by com.orbbec.obsensor.ColorFrame, com.orbbec.obsensor.DepthFrame, com.orbbec.obsensor.IRFrame, com.orbbec.obsensor.RawPhaseFrame

Public Functions

inline int getWidth()¶

Get the height of the data frame

Returns: height of the data frame

inline int getHeight()¶

Get the width of the data frame

Returns: width of the data frame

inline int getPixelAvailableBitSize()¶

Get the effective number of pixels (such as Y16 format frame, but only the lower 10 bits are valid bits, and the upper 6 bits are filled with 0) Only valid for Y8/Y10/Y11/Y12/Y14/Y16 format

Returns: Returns the effective number of pixels in pixels, or 0 if it is an unsupported format

VideoStreamProfile : public com.orbbec.obsensor.StreamProfile

Data stream configuration for Color, Depth, IR stream

Public Functions

inline int getWidth()

Get data stream width

Returns: data stream width

inline int getHeight()

Get data flow height

Returns: data flow height

inline int getFps()¶

Get data stream frame rate per second

Returns: streaming frame rate

inline void close(): resource release

namespace datatype¶

CameraDistortion : public com.orbbec.obsensor.DataType

Distortion Parameters

Public Functions

inline float getK1()¶

Get Radial Distortion Factor 1

Returns: Radial distortion factor 1

inline float getK2()¶

Get Radial Distortion Factor 2

Returns: Radial distortion factor 2

inline float getK3()¶

Get Radial Distortion Factor 3

Returns: Radial distortion factor 3

inline float getK4()¶

Get Radial Distortion Factor 4

Returns: Radial distortion factor 4

inline float getK5()¶

Get Radial Distortion Factor 5

Returns: Radial distortion factor 5

inline float getK6()¶

Get Radial Distortion Factor 6

Returns: Radial distortion factor 6

inline float getP1()¶

Get the tangential distortion factor 1

Returns: Tangential distortion factor 1

inline float getP2()¶

Get the tangential distortion factor 2

Returns: Tangential distortion factor 2

inline int BYTES()¶

Get the number of bytes occupied by the Native structure

Returns: The number of bytes occupied by the Native structure

CameraIntrinsic : public com.orbbec.obsensor.DataType

Camera internal parameters

Public Functions

inline float getFx()¶

Get the focal length in the x direction, unit: pixel

Returns: returns the focal length in the x-direction

inline float getFy()¶

Get the focal length in the y direction, unit: pixel

Returns: returns the y-direction focal length

inline float getCx()¶

Get the abscissa of the optical center

Returns: returns the abscissa of the optical center

inline float getCy()¶

Get the ordinate of the optical center

Returns: returns the ordinate of the optical center

inline short getWidth()¶

get image width

Returns: returns image width

inline short getHeight()¶

get image height

Returns: returns image height

inline int BYTES()

Get the number of bytes occupied by the Native structure

Returns: The number of bytes occupied by the Native structure

CompressionParams : public com.orbbec.obsensor.DataType

Compression parameters

Public Functions

inline void setThreshold(int threshold)¶: Setter, Lossy compression threshold, range [0~255], recommended value is 9, the higher the threshold, the higher the compression ratio.

inline int getThreshold()¶: Getter, Lossy compression threshold, range [0~255], recommended value is 9, the higher the threshold, the higher the compression ratio.

inline int BYTES()

Get the number of bytes occupied by the Native structure

Returns: The number of bytes occupied by the Native structure

D2CTransform : public com.orbbec.obsensor.DataType

Rotation/Transformation Matrix

Public Functions

inline float[] getRot ()

Get rotation matrix, row-major

Returns: rotation matrix

inline float[] getTrans ()

get transformation matrix

Returns: transformation matrix

inline int BYTES()

Get the number of bytes occupied by the Native structure

Returns: The number of bytes occupied by the Native structure

DeviceTemperature : public com.orbbec.obsensor.DataType

Device temperature information

Public Functions

inline float getCpuTemp()¶

Get CPU temperature, unit: Celsius

Returns: CPU temperature

inline float getIrTemp()¶

Get IR sensor temperature, unit: Celsius

Returns: IR sensor temperature

inline float getLdmTemp()¶

Get the temperature of the laser module, unit: Celsius

Returns: Laser module temperature

inline float getMainBoardTemp()¶

Get the motherboard temperature, unit: Celsius

Returns: motherboard temperature

inline float getTecTemp()¶

Get the TEC temperature in degrees Celsius

Returns: TEC temperature

inline float getImuTemp()¶

Get IMU sensor temperature, unit: Celsius

Returns: IMU sensor temperature

inline float getRgbTemp()¶

Get RGB sensor temperature, unit: Celsius

Returns: RGB sensor temperature

inline float getIrLeftTemp()¶

Get temperature of Left IR, unit: degree Celsius

Returns: Left IR sensor temperature

inline float getIrRightTemp()¶

Get temperature of Right IR, unit: degree Celsius

Returns: Right IR sensor temperature

inline float getChipTopTemp()¶: Get top temperature of MX6600 chip. unit: degree Celsius

inline float getChipBottomTemp()¶: Get bottom temperature of MX6600 chip. unit: degree Celsius

inline int BYTES()

Get the number of bytes occupied by the Native structure

Returns: The number of bytes occupied by the Native structure

ExposureThresholdControl : public com.orbbec.obsensor.DataType

TOF Exposure Threshold

Public Functions

inline int getUpper()¶

Get the upper limit of the threshold, unit: ms

Returns: upper threshold

inline int getLower()¶

Get the lower limit of the threshold, unit: ms

Returns: lower threshold

inline void setUpper(int upper)¶

Set the upper limit of the threshold, unit: ms

Parameters: upper – upper threshold value

inline void setLower(int lower)¶

Set the lower limit of the threshold, unit: ms

Parameters: lower – Lower threshold value

inline int BYTES()

Get the number of bytes occupied by the Native structure

Returns: The number of bytes occupied by the Native structure

OBRect : public com.orbbec.obsensor.DataType

Rectangle description

Public Functions

inline int getX()¶

Get the x-coordinate of the origin of the rectangle

Returns: returns the x-coordinate of the origin of the rectangle

inline int getY()¶

Get the y-coordinate of the origin of the rectangle

Returns: returns the y coordinate of the origin of the rectangle

inline int getWidth()

get rectangle width

Returns: returns the width of the rectangle

inline int getHeight()

get rectangle height

Returns: returns the height of the rectangle

inline int BYTES()

Get the number of bytes occupied by the Native structure

Returns: The number of bytes occupied by the Native structure