The SDK's advanced API can quickly implement functions such as switching streaming, frame synchronization, software filtering, etc., suitable for applications, and the algorithm focuses on rgbd data stream scenarios. If you are on real-time or need to handle synchronization separately, align the scene. Please use the interface of Device's Lower API. More...

#include "ObTypes.h"

Functions
ob_pipeline *	ob_create_pipeline (ob_error **error)
	Create a pipeline object.

ob_pipeline *	ob_create_pipeline_with_device (ob_device dev, ob_error *error)
	Using device objects to create pipeline objects.

ob_pipeline *	ob_create_pipeline_with_playback_file (const char file_name, ob_error *error)
	Use the playback file to create a pipeline object.

void	ob_delete_pipeline (ob_pipeline pipeline, ob_error *error)
	Delete pipeline objects.

void	ob_pipeline_start (ob_pipeline pipeline, ob_error *error)
	Start the pipeline with default parameters.

void	ob_pipeline_start_with_config (ob_pipeline pipeline, ob_config config, ob_error **error)
	Start the pipeline with configuration parameters.

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.

void	ob_pipeline_stop (ob_pipeline pipeline, ob_error *error)
	Stop pipeline.

ob_config *	ob_pipeline_get_config (ob_pipeline pipeline, ob_error *error)
	Get the configuration object associated with the pipeline.

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_device *	ob_pipeline_get_device (ob_pipeline pipeline, ob_error *error)
	Get the device object associated with the pipeline.

ob_playback *	ob_pipeline_get_playback (ob_pipeline pipeline, ob_error *error)
	Get the playback object associated with the pipeline.

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.

void	ob_pipeline_enable_frame_sync (ob_pipeline pipeline, ob_error *error)
	Enable frame synchronization.

void	ob_pipeline_disable_frame_sync (ob_pipeline pipeline, ob_error *error)
	Disable frame synchronization.

void	ob_pipeline_switch_config (ob_pipeline pipeline, ob_config config, ob_error **error)
	Dynamically switch the corresponding configuration.

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_camera_param	ob_pipeline_get_camera_param (ob_pipeline pipeline, ob_error *error)
	Get current camera parameters.

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_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 resolution.

ob_rect	ob_get_d2c_valid_area (ob_pipeline pipeline, uint32_t distance, ob_error *error)
	Get the valid area after D2C (DEPRECATED)

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.

void	ob_pipeline_start_record (ob_pipeline pipeline, const char file_name, ob_error **error)
	Start recording.

void	ob_pipeline_stop_record (ob_pipeline pipeline, ob_error *error)
	Stop recording.

ob_config *	ob_create_config (ob_error **error)
	Create the pipeline configuration.

void	ob_delete_config (ob_config config, ob_error *error)
	Delete the pipeline configuration.

void	ob_config_enable_stream (ob_config config, ob_stream_profile profile, ob_error **error)
	Enable the specified stream in the pipeline configuration.

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.

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.

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.

void	ob_config_enable_all_stream (ob_config config, ob_error *error)
	Enable all streams in the pipeline configuration.

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.

void	ob_config_disable_stream (ob_config config, ob_stream_type type, ob_error *error)
	Disable a specific stream in the pipeline configuration.

void	ob_config_disable_all_stream (ob_config config, ob_error *error)
	Disable all streams in the pipeline configuration.

void	ob_config_set_align_mode (ob_config config, ob_align_mode mode, ob_error *error)
	Set the alignment mode for the pipeline configuration.

void	ob_config_set_depth_scale_require (ob_config config, bool enable, ob_error *error)
	Set whether depth scaling is required after setting D2C.

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 OrbbecSDK and the depth needs to be D2C Note: When using the OrbbecSDK to enable the color stream, this interface should also be used to set the D2C target resolution. The configuration of the enabled color stream is preferred for D2C.

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.

Detailed Description

The SDK's advanced API can quickly implement functions such as switching streaming, frame synchronization, software filtering, etc., suitable for applications, and the algorithm focuses on rgbd data stream scenarios. If you are on real-time or need to handle synchronization separately, align the scene. Please use the interface of Device's Lower API.

Definition in file Pipeline.h.

Function Documentation

◆ ob_create_pipeline()

ob_pipeline * ob_create_pipeline ( ob_error ** error )

Create a pipeline object.

Parameters

[out] error Log error messages

Returns: ob_pipeline* return the 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.

Parameters

[in]	dev	Device object used to create pipeline
[out]	error	Log error messages

Returns: ob_pipeline* return the pipeline object

◆ 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.

Parameters

[in]	file_name	The playback file path used to create the pipeline
[out]	error	Log error messages

Returns: ob_pipeline* return the pipeline object

◆ ob_delete_pipeline()

void ob_delete_pipeline	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Delete pipeline objects.

Parameters

[in]	pipeline	The pipeline object to be deleted
[out]	error	Log error messages

◆ ob_pipeline_start()

void ob_pipeline_start	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Start the pipeline with default parameters.

Parameters

[in]	pipeline	pipeline object
[out]	error	Log error messages

◆ 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.

Parameters

[in]	pipeline	pipeline object
[in]	config	Parameters to be configured
[out]	error	Log error messages

◆ 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.

Parameters

[in]	pipeline	pipeline object
[in]	config	Parameters to be configured
[in]	callback	Trigger a callback when all frame data in the frameset arrives
[in]	user_data	Pass in any user data and get it from the callback
[out]	error	Log error messages

◆ ob_pipeline_stop()

void ob_pipeline_stop	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Stop pipeline.

Parameters

[in]	pipeline	pipeline object
[out]	error	Log error messages

◆ ob_pipeline_get_config()

ob_config * ob_pipeline_get_config	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Get the configuration object associated with the pipeline.

Returns default configuration if the user has not configured

Parameters

[in]	pipeline	The pipeline object
[out]	error	Log error messages

Returns: ob_config* The configuration object

◆ 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.

Parameters

[in]	pipeline	The pipeline object
[in]	timeout_ms	The timeout for waiting (in milliseconds)
[out]	error	Log error messages

Returns: ob_frame* The frameset that was waited for. A frameset is a special frame that can be used to obtain independent frames from the set.

◆ ob_pipeline_get_device()

ob_device * ob_pipeline_get_device	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Get the device object associated with the pipeline.

Parameters

[in]	pipeline	The pipeline object
[out]	error	Log error messages

Returns: ob_device* The device object

◆ ob_pipeline_get_playback()

ob_playback * ob_pipeline_get_playback	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Get the playback object associated with the pipeline.

Parameters

[in]	pipeline	The pipeline object
[out]	error	Log error messages

Returns: ob_playback* The playback object

◆ 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.

Parameters

[in]	pipeline	The pipeline object
[in]	sensorType	The sensor type. The supported sensor types can be obtained through the ob_device_get_sensor_list() interface.
[out]	error	Log error messages

Returns: ob_stream_profile_list* The stream profile list

◆ ob_pipeline_enable_frame_sync()

void ob_pipeline_enable_frame_sync	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Enable frame synchronization.

Parameters

[in]	pipeline	The pipeline object
[out]	error	Log error messages

◆ ob_pipeline_disable_frame_sync()

void ob_pipeline_disable_frame_sync	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Disable frame synchronization.

Parameters

[in]	pipeline	The pipeline object
[out]	error	Log error messages

◆ ob_pipeline_switch_config()

void ob_pipeline_switch_config	(	ob_pipeline *	pipeline,
		ob_config *	config,
		ob_error **	error
	)

Dynamically switch the corresponding configuration.

Parameters

[in]	pipeline	The pipeline object
[in]	config	The pipeline configuration
[out]	error	Log error messages

◆ 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.

Parameters

[in]	pipeline	pipeline object
[in]	colorWidth	color width
[in]	colorHeight	color height
[in]	depthWidth	depth width
[in]	depthHeight	depth height
[out]	error	Log error messages

Returns: ob_camera_param returns camera internal parameters

◆ ob_pipeline_get_camera_param()

ob_camera_param ob_pipeline_get_camera_param	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Get current camera parameters.

Attention: If D2C is enabled, it will return the camera parameters after D2C, if not, it will return to the default parameters

Parameters

[in]	pipeline	pipeline object
[out]	error	Log error messages

Returns: ob_camera_param The camera internal parameters

◆ 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.

Parameters

[in]	pipeline	pipeline object
[in]	config	The pipeline configuration
[out]	error	Log error messages

Returns: ob_calibration_param The calibration parameters

◆ 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 resolution.

Parameters

[in]	pipeline	The pipeline object
[in]	color_profile	The input profile of the color sensor
[in]	align_mode	The input align mode
[out]	error	Log error messages

Returns: ob_stream_profile_list* The list of D2C-enabled depth sensor resolutions

◆ 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)

Parameters

[in]	pipeline	The pipeline object
[in]	distance	The working distance
[out]	error	Log error messages

Returns: ob_rect The area information that is valid after D2C at the working distance

◆ 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.

Parameters

[in]	pipeline	The pipeline object
[in]	minimum_distance	The minimum working distance
[in]	maximum_distance	The maximum working distance
[out]	error	Log error messages

Returns: ob_rect The area information that is valid after D2C at the working distance

◆ ob_pipeline_start_record()

void ob_pipeline_start_record	(	ob_pipeline *	pipeline,
		const char *	file_name,
		ob_error **	error
	)

Start recording.

Parameters

[in]	pipeline	The pipeline object
[in]	file_name	The recorded file path
[out]	error	Log error messages

◆ ob_pipeline_stop_record()

void ob_pipeline_stop_record	(	ob_pipeline *	pipeline,
		ob_error **	error
	)

Stop recording.

Parameters

[in]	pipeline	The pipeline object
[out]	error	Log error messages

◆ ob_create_config()

ob_config * ob_create_config ( ob_error ** error )

Create the pipeline configuration.

Parameters

[out] error Log error messages

Returns: ob_config* The configuration object

◆ ob_delete_config()

void ob_delete_config	(	ob_config *	config,
		ob_error **	error
	)

Delete the pipeline configuration.

Parameters

[in]	config	The configuration to be deleted
[out]	error	Log error messages

◆ 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.

Parameters

[in]	config	The pipeline configuration
[in]	profile	The stream configuration to be enabled
[out]	error	Log error messages

◆ 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.

This function configures and enables a video stream with specific parameters. Users must specify all parameters explicitly as C does not support default arguments. Refer to the product manual for details on supported resolutions and formats for different camera models.

Parameters

config	Pointer to the configuration structure.
type	The video stream type.
width	The video stream width.
height	The video stream height.
fps	The video stream frame rate.
format	The video stream format.
error	Pointer to store the error if operation fails.

◆ 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.

This function configures and enables an accelerometer stream with specific parameters. Users must specify all parameters explicitly. For details on available full-scale ranges and sample rates, please refer to the product manual.

Parameters

config	Pointer to the configuration structure.
fullScaleRange	The full-scale range of the accelerometer.
sampleRate	The sample rate of the accelerometer.
error	Pointer to store the error if operation fails.

◆ 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.

This function configures and enables a gyroscope stream with specific parameters. Users must specify all parameters explicitly. For details on available full-scale ranges and sample rates, please refer to the product manual.

Parameters

config	Pointer to the configuration structure.
fullScaleRange	The full-scale range of the gyroscope.
sampleRate	The sample rate of the gyroscope.
error	Pointer to store the error if operation fails.

◆ ob_config_enable_all_stream()

void ob_config_enable_all_stream	(	ob_config *	config,
		ob_error **	error
	)

Enable all streams in the pipeline configuration.

Deprecated:: Use ob_config_enable_stream instead

Parameters

[in]	config	The pipeline configuration
[out]	error	Log error messages

◆ 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.

Parameters

config	The pipeline configuration
error	Log error messages

Returns: ob_stream_profile_list* The enabled stream profile list, should be released by ob_delete_stream_profile_list after use

◆ 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.

Parameters

[in]	config	The pipeline configuration
[in]	type	The type of stream to be disabled
[out]	error	Log error messages

◆ ob_config_disable_all_stream()

void ob_config_disable_all_stream	(	ob_config *	config,
		ob_error **	error
	)

Disable all streams in the pipeline configuration.

Parameters

[in]	config	The pipeline configuration
[out]	error	Log error messages

◆ 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.

Parameters

[in]	config	The pipeline configuration
[in]	mode	The alignment mode to be set
[out]	error	Log error messages

◆ 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.

Parameters

[in]	config	The pipeline configuration
[in]	enable	Whether scaling is required
[out]	error	Log error messages

◆ 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 OrbbecSDK and the depth needs to be D2C Note: When using the OrbbecSDK to enable the color stream, this interface should also be used to set the D2C target resolution. The configuration of the enabled color stream is preferred for D2C.

Parameters

[in]	config	The pipeline configuration
[in]	d2c_target_width	The target width for D2C
[in]	d2c_target_height	The target height for D2C
[out]	error	Log error messages

◆ 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.

The processing strategy when the FrameSet generated by the frame aggregation function does not contain the frames of all opened streams (which can be caused by different frame rates of each stream, or by the loss of frames of one stream): drop directly or output to the user.

Parameters

[in]	config	The pipeline configuration
[in]	mode	The frame aggregation output mode to be set (default mode is OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE)
[out]	error	Log error messages

Functions

Detailed Description

Function Documentation

◆ ob_create_pipeline()

◆ ob_create_pipeline_with_device()

◆ ob_create_pipeline_with_playback_file()

◆ ob_delete_pipeline()

◆ ob_pipeline_start()

◆ ob_pipeline_start_with_config()

◆ ob_pipeline_start_with_callback()

◆ ob_pipeline_stop()

◆ ob_pipeline_get_config()

◆ ob_pipeline_wait_for_frameset()

◆ ob_pipeline_get_device()

◆ ob_pipeline_get_playback()

◆ ob_pipeline_get_stream_profile_list()

◆ ob_pipeline_enable_frame_sync()

◆ ob_pipeline_disable_frame_sync()

◆ ob_pipeline_switch_config()

◆ ob_pipeline_get_camera_param_with_profile()

◆ ob_pipeline_get_camera_param()

◆ ob_pipeline_get_calibration_param()

◆ ob_get_d2c_depth_profile_list()

◆ ob_get_d2c_valid_area()

◆ ob_get_d2c_range_valid_area()

◆ ob_pipeline_start_record()

◆ ob_pipeline_stop_record()

◆ ob_create_config()

◆ ob_delete_config()

◆ ob_config_enable_stream()

◆ ob_config_enable_video_stream()

◆ ob_config_enable_accel_stream()

◆ ob_config_enable_gyro_stream()

◆ ob_config_enable_all_stream()

◆ ob_config_get_enabled_stream_profile_list()

◆ ob_config_disable_stream()

◆ ob_config_disable_all_stream()

◆ ob_config_set_align_mode()

◆ ob_config_set_depth_scale_require()

◆ ob_config_set_d2c_target_resolution()

◆ ob_config_set_frame_aggregate_output_mode()