| OrbbecSDK 1.10.18 OrbbecSDK: Software-Development-Kit for Orbbec 3D Cameras

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Pipeline.h
Go to the documentation of this file.
1
7#pragma once
8
9#ifdef __cplusplus
10 extern "C" {
11#endif
12
13#include "ObTypes.h"
14
21 ob_pipeline *ob_create_pipeline(ob_error **error);
22
30 ob_pipeline *ob_create_pipeline_with_device(ob_device *dev, ob_error **error);
31
39 ob_pipeline *ob_create_pipeline_with_playback_file(const char *file_name, ob_error **error);
40
47 void ob_delete_pipeline(ob_pipeline *pipeline, ob_error **error);
48
55 void ob_pipeline_start(ob_pipeline *pipeline, ob_error **error);
56
64 void ob_pipeline_start_with_config(ob_pipeline *pipeline, ob_config *config, ob_error **error);
65
75 void ob_pipeline_start_with_callback(ob_pipeline *pipeline, ob_config *config, ob_frameset_callback callback, void *user_data, ob_error **error);
76
83 void ob_pipeline_stop(ob_pipeline *pipeline, ob_error **error);
84
93 ob_config *ob_pipeline_get_config(ob_pipeline *pipeline, ob_error **error);
94
103 ob_frame *ob_pipeline_wait_for_frameset(ob_pipeline *pipeline, uint32_t timeout_ms, ob_error **error);
104
112 ob_device *ob_pipeline_get_device(ob_pipeline *pipeline, ob_error **error);
113
121 ob_playback *ob_pipeline_get_playback(ob_pipeline *pipeline, ob_error **error);
122
131 ob_stream_profile_list *ob_pipeline_get_stream_profile_list(ob_pipeline *pipeline, ob_sensor_type sensorType, ob_error **error);
132
139 void ob_pipeline_enable_frame_sync(ob_pipeline *pipeline, ob_error **error);
140
147 void ob_pipeline_disable_frame_sync(ob_pipeline *pipeline, ob_error **error);
148
156 void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *config, ob_error **error);
157
169 ob_camera_param ob_pipeline_get_camera_param_with_profile(ob_pipeline *pipeline, uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth,
170 uint32_t depthHeight, ob_error **error);
171
180 ob_camera_param ob_pipeline_get_camera_param(ob_pipeline *pipeline, ob_error **error);
181
190 ob_calibration_param ob_pipeline_get_calibration_param(ob_pipeline *pipeline, ob_config *config, ob_error **error);
191
201 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);
202
211 ob_rect ob_get_d2c_valid_area(ob_pipeline *pipeline, uint32_t distance, ob_error **error);
212
222 ob_rect ob_get_d2c_range_valid_area(ob_pipeline *pipeline, uint32_t minimum_distance, uint32_t maximum_distance, ob_error **error);
223
231 void ob_pipeline_start_record(ob_pipeline *pipeline, const char *file_name, ob_error **error);
232
239 void ob_pipeline_stop_record(ob_pipeline *pipeline, ob_error **error);
240
247 ob_config *ob_create_config(ob_error **error);
248
255 void ob_delete_config(ob_config *config, ob_error **error);
256
264 void ob_config_enable_stream(ob_config *config, ob_stream_profile *profile, ob_error **error);
265
281 void ob_config_enable_video_stream(ob_config *config, ob_stream_type type, int width, int height, int fps, ob_format format, ob_error **error);
282
295 void ob_config_enable_accel_stream(ob_config *config, ob_accel_full_scale_range full_scale_range, ob_accel_sample_rate sample_rate, ob_error **error);
296
309 void ob_config_enable_gyro_stream(ob_config *config, ob_gyro_full_scale_range full_scale_range, ob_gyro_sample_rate sample_rate, ob_error **error);
310
318 void ob_config_enable_all_stream(ob_config *config, ob_error **error);
319
327 ob_stream_profile_list *ob_config_get_enabled_stream_profile_list(ob_config *config, ob_error **error);
328
336 void ob_config_disable_stream(ob_config *config, ob_stream_type type, ob_error **error);
337
344 void ob_config_disable_all_stream(ob_config *config, ob_error **error);
345
353 void ob_config_set_align_mode(ob_config *config, ob_align_mode mode, ob_error **error);
354
362 void ob_config_set_depth_scale_require(ob_config *config, bool enable, ob_error **error);
363
374 void ob_config_set_d2c_target_resolution(ob_config *config, uint32_t d2c_target_width, uint32_t d2c_target_height, ob_error **error);
375
385 void ob_config_set_frame_aggregate_output_mode(ob_config *config, ob_frame_aggregate_output_mode mode, ob_error **error);
386
387#ifdef __cplusplus
388}
389#endif
ObTypes.h
Provide structs commonly used in the SDK, enumerating constant definitions.
ob_format
enum OBFormat ob_format
ob_pipeline
struct PipelineImpl ob_pipeline
Definition ObTypes.h:65
ob_playback
struct PlaybackImpl ob_playback
Definition ObTypes.h:68
ob_frame_aggregate_output_mode
enum OB_FRAME_AGGREGATE_OUTPUT_MODE ob_frame_aggregate_output_mode
ob_gyro_sample_rate
enum OBGyroSampleRate ob_gyro_sample_rate
ob_frame
struct CFrameImpl ob_frame
Definition ObTypes.h:63
ob_gyro_full_scale_range
enum OBGyroFullScaleRange ob_gyro_full_scale_range
ob_device
struct DeviceImpl ob_device
Definition ObTypes.h:55
ob_stream_profile_list
struct StreamProfileListImpl ob_stream_profile_list
Definition ObTypes.h:62
ob_config
struct ConfigImpl ob_config
Definition ObTypes.h:66
ob_align_mode
enum OBAlignMode ob_align_mode
ob_stream_type
enum OBStreamType ob_stream_type
ob_accel_sample_rate
enum OBGyroSampleRate ob_accel_sample_rate
ob_stream_profile
struct StreamProfileImpl ob_stream_profile
Definition ObTypes.h:61
ob_accel_full_scale_range
enum OBAccelFullScaleRange ob_accel_full_scale_range
ob_sensor_type
enum OBSensorType ob_sensor_type
ob_frameset_callback
void(* ob_frameset_callback)(ob_frame *frameset, void *user_data)
Callback for frameset.
Definition ObTypes.h:1768
ob_pipeline_get_camera_param
ob_camera_param ob_pipeline_get_camera_param(ob_pipeline *pipeline, ob_error **error)
Get current camera parameters.
ob_create_config
ob_config * ob_create_config(ob_error **error)
Create the pipeline configuration.
ob_config_enable_all_stream
void ob_config_enable_all_stream(ob_config *config, ob_error **error)
Enable all streams in the pipeline configuration.
ob_pipeline_start_with_callback
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.
ob_pipeline_wait_for_frameset
ob_frame * ob_pipeline_wait_for_frameset(ob_pipeline *pipeline, uint32_t timeout_ms, ob_error **error)
Wait for a set of frames to be returned synchronously.
ob_pipeline_get_config
ob_config * ob_pipeline_get_config(ob_pipeline *pipeline, ob_error **error)
Get the configuration object associated with the pipeline.
ob_pipeline_get_playback
ob_playback * ob_pipeline_get_playback(ob_pipeline *pipeline, ob_error **error)
Get the playback object associated with the pipeline.
ob_config_disable_all_stream
void ob_config_disable_all_stream(ob_config *config, ob_error **error)
Disable all streams in the pipeline configuration.
ob_config_set_align_mode
void ob_config_set_align_mode(ob_config *config, ob_align_mode mode, ob_error **error)
Set the alignment mode for the pipeline configuration.
ob_get_d2c_range_valid_area
ob_rect ob_get_d2c_range_valid_area(ob_pipeline *pipeline, uint32_t minimum_distance, uint32_t maximum_distance, ob_error **error)
Get the valid area between the minimum distance and maximum distance after D2C.
ob_delete_pipeline
void ob_delete_pipeline(ob_pipeline *pipeline, ob_error **error)
Delete pipeline objects.
ob_pipeline_get_stream_profile_list
ob_stream_profile_list * ob_pipeline_get_stream_profile_list(ob_pipeline *pipeline, ob_sensor_type sensorType, ob_error **error)
Get the stream profile list associated with the pipeline.
ob_config_get_enabled_stream_profile_list
ob_stream_profile_list * ob_config_get_enabled_stream_profile_list(ob_config *config, ob_error **error)
Get the enabled stream profile list in the pipeline configuration.
ob_pipeline_enable_frame_sync
void ob_pipeline_enable_frame_sync(ob_pipeline *pipeline, ob_error **error)
Enable frame synchronization.
ob_config_disable_stream
void ob_config_disable_stream(ob_config *config, ob_stream_type type, ob_error **error)
Disable a specific stream in the pipeline configuration.
ob_create_pipeline_with_playback_file
ob_pipeline * ob_create_pipeline_with_playback_file(const char *file_name, ob_error **error)
Use the playback file to create a pipeline object.
ob_pipeline_get_camera_param_with_profile
ob_camera_param ob_pipeline_get_camera_param_with_profile(ob_pipeline *pipeline, uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight, ob_error **error)
Get the current camera parameters.
ob_delete_config
void ob_delete_config(ob_config *config, ob_error **error)
Delete the pipeline configuration.
ob_pipeline_switch_config
void ob_pipeline_switch_config(ob_pipeline *pipeline, ob_config *config, ob_error **error)
Dynamically switch the corresponding configuration.
ob_pipeline_stop_record
void ob_pipeline_stop_record(ob_pipeline *pipeline, ob_error **error)
Stop recording.
ob_create_pipeline
ob_pipeline * ob_create_pipeline(ob_error **error)
Create a pipeline object.
ob_create_pipeline_with_device
ob_pipeline * ob_create_pipeline_with_device(ob_device *dev, ob_error **error)
Using device objects to create pipeline objects.
ob_pipeline_start_record
void ob_pipeline_start_record(ob_pipeline *pipeline, const char *file_name, ob_error **error)
Start recording.
ob_config_enable_video_stream
void ob_config_enable_video_stream(ob_config *config, ob_stream_type type, int width, int height, int fps, ob_format format, ob_error **error)
Enable a video stream to be used in the configuration.
ob_pipeline_start_with_config
void ob_pipeline_start_with_config(ob_pipeline *pipeline, ob_config *config, ob_error **error)
Start the pipeline with configuration parameters.
ob_config_enable_gyro_stream
void ob_config_enable_gyro_stream(ob_config *config, ob_gyro_full_scale_range full_scale_range, ob_gyro_sample_rate sample_rate, ob_error **error)
Enable a gyroscope stream to be used in the configuration.
ob_pipeline_get_calibration_param
ob_calibration_param ob_pipeline_get_calibration_param(ob_pipeline *pipeline, ob_config *config, ob_error **error)
Get device calibration parameters with the specified configuration.
ob_pipeline_start
void ob_pipeline_start(ob_pipeline *pipeline, ob_error **error)
Start the pipeline with default parameters.
ob_config_set_frame_aggregate_output_mode
void ob_config_set_frame_aggregate_output_mode(ob_config *config, ob_frame_aggregate_output_mode mode, ob_error **error)
Set the frame aggregation output mode for the pipeline configuration.
ob_pipeline_disable_frame_sync
void ob_pipeline_disable_frame_sync(ob_pipeline *pipeline, ob_error **error)
Disable frame synchronization.
ob_get_d2c_valid_area
ob_rect ob_get_d2c_valid_area(ob_pipeline *pipeline, uint32_t distance, ob_error **error)
Get the valid area after D2C (DEPRECATED)
ob_pipeline_stop
void ob_pipeline_stop(ob_pipeline *pipeline, ob_error **error)
Stop pipeline.
ob_config_set_d2c_target_resolution
void ob_config_set_d2c_target_resolution(ob_config *config, uint32_t d2c_target_width, uint32_t d2c_target_height, ob_error **error)
Set the target resolution for D2C, which is applicable when the color stream is not enabled using the...
ob_get_d2c_depth_profile_list
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)
Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolut...
ob_config_set_depth_scale_require
void ob_config_set_depth_scale_require(ob_config *config, bool enable, ob_error **error)
Set whether depth scaling is required after setting D2C.
ob_config_enable_accel_stream
void ob_config_enable_accel_stream(ob_config *config, ob_accel_full_scale_range full_scale_range, ob_accel_sample_rate sample_rate, ob_error **error)
Enable an accelerometer stream to be used in the configuration.
ob_pipeline_get_device
ob_device * ob_pipeline_get_device(ob_pipeline *pipeline, ob_error **error)
Get the device object associated with the pipeline.
ob_config_enable_stream
void ob_config_enable_stream(ob_config *config, ob_stream_profile *profile, ob_error **error)
Enable the specified stream in the pipeline configuration.
OBCalibrationParam
calibration parameters
Definition ObTypes.h:486
OBCameraParam
Structure for camera parameters.
Definition ObTypes.h:462
OBRect
Rectangle.
Definition ObTypes.h:534
ob_error
The error class exposed by the SDK, users can get detailed error information according to the error.
Definition ObTypes.h:151