#include <Device.hpp>

Public Member Functions
	Device (std::unique_ptr< DeviceImpl > impl)
	Describe the entity of the RGBD camera, representing a specific model of RGBD camera.

virtual	~Device () noexcept

std::shared_ptr< DeviceInfo >	getDeviceInfo ()
	Get device information.

std::shared_ptr< SensorList >	getSensorList ()
	Get device sensor list.

std::shared_ptr< Sensor >	getSensor (OBSensorType type)
	Get specific type of sensor if device not open, SDK will automatically open the connected device and return to the instance.

void	setIntProperty (OBPropertyID propertyId, int32_t property)
	Set int type of device property.

void	setFloatProperty (OBPropertyID propertyId, float property)
	Set float type of device property.

void	setBoolProperty (OBPropertyID propertyId, bool property)
	Set bool type of device property.

int32_t	getIntProperty (OBPropertyID propertyId)
	Get int type of device property.

float	getFloatProperty (OBPropertyID propertyId)
	Get float type of device property.

bool	getBoolProperty (OBPropertyID propertyId)
	Get bool type of device property.

OBIntPropertyRange	getIntPropertyRange (OBPropertyID propertyId)
	Get int type device property range (including current value and default value)

OBFloatPropertyRange	getFloatPropertyRange (OBPropertyID propertyId)
	Get float type device property range((including current value and default value)

OBBoolPropertyRange	getBoolPropertyRange (OBPropertyID propertyId)
	Get bool type device property range (including current value and default value)

void	writeAHB (uint32_t reg, uint32_t mask, uint32_t value)
	Write to an AHB register.

void	readAHB (uint32_t reg, uint32_t mask, uint32_t *value)
	Read from an AHB register.

void	writeI2C (uint32_t moduleId, uint32_t reg, uint32_t mask, uint32_t value)
	Write to an I2C register.

void	readI2C (uint32_t moduleId, uint32_t reg, uint32_t mask, uint32_t *value)
	Read from an I2C register.

void	writeFlash (uint32_t offset, const void *data, uint32_t dataSize, SetDataCallback callback, bool async=false)
	Set the properties for writing to Flash.

void	readFlash (uint32_t offset, uint32_t dataSize, GetDataCallback callback, bool async=false)
	Read a property from Flash.

void	writeCustomerData (const void *data, uint32_t dataSize)
	Set the customer data type of a device property.

void	readCustomerData (void data, uint32_t dataSize)
	Get the customer data type of a device property.

void	setRawData (OBPropertyID propertyId, const void *data, uint32_t dataSize, SetDataCallback callback, bool async=false)
	Set the raw data type of a device property (with asynchronous callback)

void	getRawData (OBPropertyID propertyId, GetDataCallback callback, bool async=false)
	Get the raw data type of a device property (with asynchronous callback)

void	setStructuredData (OBPropertyID propertyId, const void *data, uint32_t dataSize)
	Set the structured data type of a device property.

void	getStructuredData (OBPropertyID propertyId, void data, uint32_t dataSize)
	Get the structured data type of a device property.

void	setStructuredDataExt (OBPropertyID propertyId, std::shared_ptr< OBDataBundle > dataBundle, SetDataCallback callback)
	Set the structured data type of a device property (with extended data bundle)

std::shared_ptr< OBDataBundle >	getStructuredDataExt (OBPropertyID propertyId)
	Get the structured data type of a device property (with extended data bundle)

OBProtocolVersion	getProtocolVersion ()
	Get the property protocol version.

OBCmdVersion	getCmdVersion (OBPropertyID propertyId)
	Get the cmdVersion of a property.

uint32_t	getSupportedPropertyCount ()
	Get the number of properties supported by the device.

OBPropertyItem	getSupportedProperty (uint32_t index)
	Get the supported properties of the device.

bool	isPropertySupported (OBPropertyID propertyId, OBPermissionType permission)
	Check if a property permission is supported.

bool	isGlobalTimestampSupported ()
	Check if the global timestamp is supported for the device.

void	deviceUpgrade (const char *filePath, DeviceUpgradeCallback callback, bool async=true)
	Upgrade the device firmware.

void	deviceUpgradeFromData (const char *fileData, uint32_t fileSize, DeviceUpgradeCallback callback, bool async=true)

void	sendFile (const char filePath, const char dstPath, SendFileCallback callback, bool async=true)
	Send files to the specified path on the device side [Asynchronouscallback].

OBDeviceState	getDeviceState ()
	Get the current state.

void	setDeviceStateChangedCallback (DeviceStateChangedCallback callback)
	Set the device state changed callbacks.

bool	activateAuthorization (const char *authCode)
	Verify device authorization code.

void	writeAuthorizationCode (const char *authCodeStr)
	Write authorization code.

std::shared_ptr< CameraParamList >	getCalibrationCameraParamList ()
	Get the original parameter list of camera calibration saved in the device.

OBDepthWorkMode	getCurrentDepthWorkMode ()
	Get current depth work mode.

OBStatus	switchDepthWorkMode (const OBDepthWorkMode &workMode)
	Switch depth work mode by OBDepthWorkMode. Prefer invoke switchDepthWorkMode(const char *modeName) to switch depth mode when known the complete name of depth work mode.

OBStatus	switchDepthWorkMode (const char *modeName)
	Switch depth work mode by work mode name.

std::shared_ptr< OBDepthWorkModeList >	getDepthWorkModeList ()
	Request support depth work mode list.

void	reboot ()
	Device restart.

void	reboot (uint32_t delayMs)
	Device restart delay mode.

DEPRECATED uint64_t	syncDeviceTime ()
	Synchronize the device time (synchronize local system time to device)

DEPRECATED OBDeviceSyncConfig	getSyncConfig ()
	get the current device synchronization configuration

DEPRECATED void	setSyncConfig (const OBDeviceSyncConfig &deviceSyncConfig)
	Set the device synchronization configuration.

uint16_t	getSupportedMultiDeviceSyncModeBitmap ()
	Get the supported multi device sync mode bitmap of the device.

void	setMultiDeviceSyncConfig (const OBMultiDeviceSyncConfig &config)
	set the multi device sync configuration of the device.

OBMultiDeviceSyncConfig	getMultiDeviceSyncConfig ()
	get the multi device sync configuration of the device.

void	triggerCapture ()
	send the capture command to the device.

void	setTimestampResetConfig (const OBDeviceTimestampResetConfig &config)
	set the timestamp reset configuration of the device.

OBDeviceTimestampResetConfig	getTimestampResetConfig ()
	get the timestamp reset configuration of the device.

void	timestampReset ()
	send the timestamp reset command to the device.

void	timerSyncWithHost ()
	synchronize the timer of the device with the host.

void	loadDepthFilterConfig (const char *filePath)
	Load depth filter config from file.

void	resetDefaultDepthFilterConfig ()
	Reset depth filter config to device default define.

const char *	getCurrentPresetName ()
	Get current preset name.

const char *	getCurrentDepthModeName ()
	Get current depth mode name.

void	loadPreset (const char *presetName)
	load the preset according to the preset name.

std::shared_ptr< DevicePresetList >	getAvailablePresetList ()
	Get available preset list.

void	loadPresetFromJsonFile (const char *filePath)
	Load custom preset from file.

void	loadPresetFromJsonData (const char presetName, const uint8_t data, uint32_t size)
	Load custom preset from data.

void	exportSettingsAsPresetJsonFile (const char *filePath)
	Export current device settings as a preset json file.

void	exportSettingsAsPresetJsonData (const char presetName, const uint8_t data, uint32_t dataSize)
	Export current device settings as a preset json data.

Protected Member Functions
	Device (Device &&device)

Protected Attributes
std::unique_ptr< DeviceImpl >	impl_

Friends
class	Pipeline

class	Recorder

class	CoordinateTransformHelper

Detailed Description

Definition at line 29 of file Device.hpp.

Constructor & Destructor Documentation

◆ Device() [1/2]

ob::Device::Device ( Device && device )

protected

◆ Device() [2/2]

ob::Device::Device ( std::unique_ptr< DeviceImpl > impl )

Describe the entity of the RGBD camera, representing a specific model of RGBD camera.

◆ ~Device()

virtual ob::Device::~Device ( )

virtualnoexcept

Member Function Documentation

◆ getDeviceInfo()

std::shared_ptr< DeviceInfo > ob::Device::getDeviceInfo ( )

Get device information.

Returns: std::shared_ptr<DeviceInfo> return device information

◆ getSensorList()

std::shared_ptr< SensorList > ob::Device::getSensorList ( )

Get device sensor list.

Returns: std::shared_ptr<SensorList> return the sensor list

◆ getSensor()

std::shared_ptr< Sensor > ob::Device::getSensor ( OBSensorType type )

Get specific type of sensor if device not open, SDK will automatically open the connected device and return to the instance.

Returns: std::shared_ptr<Sensor> return the sensor example, if the device does not have the device,return nullptr

◆ setIntProperty()

void ob::Device::setIntProperty	(	OBPropertyID	propertyId,
		int32_t	property
	)

Set int type of device property.

Parameters

propertyId	Property id
property	Property to be set

◆ setFloatProperty()

void ob::Device::setFloatProperty	(	OBPropertyID	propertyId,
		float	property
	)

Set float type of device property.

Parameters

propertyId	Property id
property	Property to be set

◆ setBoolProperty()

void ob::Device::setBoolProperty	(	OBPropertyID	propertyId,
		bool	property
	)

Set bool type of device property.

Parameters

propertyId	Property id
property	Property to be set

◆ getIntProperty()

int32_t ob::Device::getIntProperty ( OBPropertyID propertyId )

Get int type of device property.

Parameters

propertyId Property id

Returns: int32_t Property to get

◆ getFloatProperty()

float ob::Device::getFloatProperty ( OBPropertyID propertyId )

Get float type of device property.

Parameters

propertyId Property id

Returns: float Property to get

◆ getBoolProperty()

bool ob::Device::getBoolProperty ( OBPropertyID propertyId )

Get bool type of device property.

Parameters

propertyId Property id

Returns: bool Property to get

◆ getIntPropertyRange()

OBIntPropertyRange ob::Device::getIntPropertyRange ( OBPropertyID propertyId )

Get int type device property range (including current value and default value)

Parameters

propertyId Property id

Returns: OBIntPropertyRange Property range

◆ getFloatPropertyRange()

OBFloatPropertyRange ob::Device::getFloatPropertyRange ( OBPropertyID propertyId )

Get float type device property range((including current value and default value)

Parameters

propertyId Property id

Returns: OBFloatPropertyRange Property range

◆ getBoolPropertyRange()

OBBoolPropertyRange ob::Device::getBoolPropertyRange ( OBPropertyID propertyId )

Get bool type device property range (including current value and default value)

Parameters

propertyId The ID of the property

Returns: OBBoolPropertyRange The range of the property

◆ writeAHB()

void ob::Device::writeAHB	(	uint32_t	reg,
		uint32_t	mask,
		uint32_t	value
	)

Write to an AHB register.

Parameters

reg	The register to write to
mask	The mask to apply
value	The value to write

◆ readAHB()

void ob::Device::readAHB	(	uint32_t	reg,
		uint32_t	mask,
		uint32_t *	value
	)

Read from an AHB register.

Parameters

reg	The register to read from
mask	The mask to apply
value	The value to return

◆ writeI2C()

void ob::Device::writeI2C	(	uint32_t	moduleId,
		uint32_t	reg,
		uint32_t	mask,
		uint32_t	value
	)

Write to an I2C register.

Parameters

moduleId	The ID of the I2C module to write to
reg	The register to write to
mask	The mask to apply
value	The value to write

◆ readI2C()

void ob::Device::readI2C	(	uint32_t	moduleId,
		uint32_t	reg,
		uint32_t	mask,
		uint32_t *	value
	)

Read from an I2C register.

Parameters

moduleId	The ID of the I2C module to read from
reg	The register to read from
mask	The mask to apply
value	The value to return

◆ writeFlash()

void ob::Device::writeFlash	(	uint32_t	offset,
		const void *	data,
		uint32_t	dataSize,
		SetDataCallback	callback,
		bool	async = `false`
	)

Set the properties for writing to Flash.

Parameters

offset	The offset address in Flash
data	The data to write
dataSize	The size of the data to write
callback	The callback for write progress
async	Whether to execute asynchronously

◆ readFlash()

void ob::Device::readFlash	(	uint32_t	offset,
		uint32_t	dataSize,
		GetDataCallback	callback,
		bool	async = `false`
	)

Read a property from Flash.

Parameters

offset	The offset address in Flash
dataSize	The size of the property to read
callback	The callback for read progress and data
async	Whether to execute asynchronously

◆ writeCustomerData()

void ob::Device::writeCustomerData	(	const void *	data,
		uint32_t	dataSize
	)

Set the customer data type of a device property.

Parameters

data	The data to set
dataSize	The size of the data to set,the maximum length cannot exceed 65532 bytes.

◆ readCustomerData()

void ob::Device::readCustomerData	(	void *	data,
		uint32_t *	dataSize
	)

Get the customer data type of a device property.

Parameters

data	The property data obtained
dataSize	The size of the data obtained

◆ setRawData()

void ob::Device::setRawData	(	OBPropertyID	propertyId,
		const void *	data,
		uint32_t	dataSize,
		SetDataCallback	callback,
		bool	async = `false`
	)

Set the raw data type of a device property (with asynchronous callback)

Parameters

propertyId	The ID of the property
data	The data to set
dataSize	The size of the data to set
callback	The callback for set progress
async	Whether to execute asynchronously

◆ getRawData()

void ob::Device::getRawData	(	OBPropertyID	propertyId,
		GetDataCallback	callback,
		bool	async = `false`
	)

Get the raw data type of a device property (with asynchronous callback)

Parameters

propertyId	The ID of the property
callback	The callback for getting the data and progress
async	Whether to execute asynchronously

◆ setStructuredData()

void ob::Device::setStructuredData	(	OBPropertyID	propertyId,
		const void *	data,
		uint32_t	dataSize
	)

Set the structured data type of a device property.

Parameters

propertyId	The ID of the property
data	The data to set
dataSize	The size of the data to set

◆ getStructuredData()

void ob::Device::getStructuredData	(	OBPropertyID	propertyId,
		void *	data,
		uint32_t *	dataSize
	)

Get the structured data type of a device property.

Parameters

propertyId	The ID of the property
data	The property data obtained
dataSize	The size of the data obtained

◆ setStructuredDataExt()

void ob::Device::setStructuredDataExt	(	OBPropertyID	propertyId,
		std::shared_ptr< OBDataBundle >	dataBundle,
		SetDataCallback	callback
	)

Set the structured data type of a device property (with extended data bundle)

Parameters

propertyId	The ID of the property
dataBundle	The target data bundle
callback	The callback for setting

◆ getStructuredDataExt()

std::shared_ptr< OBDataBundle > ob::Device::getStructuredDataExt ( OBPropertyID propertyId )

Get the structured data type of a device property (with extended data bundle)

Parameters

propertyId The ID of the property

Returns: The data bundle

◆ getProtocolVersion()

OBProtocolVersion ob::Device::getProtocolVersion ( )

Get the property protocol version.

Returns: The protocol version

◆ getCmdVersion()

OBCmdVersion ob::Device::getCmdVersion ( OBPropertyID propertyId )

Get the cmdVersion of a property.

Parameters

propertyId The ID of the property

Returns: The cmdVersion

◆ getSupportedPropertyCount()

uint32_t ob::Device::getSupportedPropertyCount ( )

Get the number of properties supported by the device.

Returns: The number of supported properties

◆ getSupportedProperty()

OBPropertyItem ob::Device::getSupportedProperty ( uint32_t index )

Get the supported properties of the device.

Parameters

index The index of the property

Returns: The type of supported property

◆ isPropertySupported()

bool ob::Device::isPropertySupported	(	OBPropertyID	propertyId,
		OBPermissionType	permission
	)

Check if a property permission is supported.

Parameters

propertyId	The ID of the property
permission	The read and write permissions to check

Returns: Whether the property permission is supported

◆ isGlobalTimestampSupported()

bool ob::Device::isGlobalTimestampSupported ( )

Check if the global timestamp is supported for the device.

Returns: Whether the global timestamp is supported

◆ deviceUpgrade()

void ob::Device::deviceUpgrade	(	const char *	filePath,
		DeviceUpgradeCallback	callback,
		bool	async = `true`
	)

Upgrade the device firmware.

Parameters

filePath	Firmware path
callback	Firmware upgrade progress and status callback
async	Whether to execute asynchronously

◆ deviceUpgradeFromData()

void ob::Device::deviceUpgradeFromData	(	const char *	fileData,
		uint32_t	fileSize,
		DeviceUpgradeCallback	callback,
		bool	async = `true`
	)

◆ sendFile()

void ob::Device::sendFile	(	const char *	filePath,
		const char *	dstPath,
		SendFileCallback	callback,
		bool	async = `true`
	)

Send files to the specified path on the device side [Asynchronouscallback].

Parameters

filePath	Original file path
dstPath	Accept the save path on the device side
callback	File transfer callback
async	Whether to execute asynchronously

◆ getDeviceState()

OBDeviceState ob::Device::getDeviceState ( )

Get the current state.

Returns: OBDeviceState device state information

◆ setDeviceStateChangedCallback()

void ob::Device::setDeviceStateChangedCallback ( DeviceStateChangedCallback callback )

Set the device state changed callbacks.

Parameters

callback The callback function that is triggered when the device status changes (for example, the frame rate is automatically reduced or the stream is closed due to high temperature, etc.)

◆ activateAuthorization()

bool ob::Device::activateAuthorization ( const char * authCode )

Verify device authorization code.

Parameters

authCode Authorization code

Returns: bool whether the activation is successful

◆ writeAuthorizationCode()

void ob::Device::writeAuthorizationCode ( const char * authCodeStr )

Write authorization code.

Parameters

[in] authCodeStr Authorization code

◆ getCalibrationCameraParamList()

std::shared_ptr< CameraParamList > ob::Device::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: std::shared_ptr<CameraParamList> camera parameter list

◆ getCurrentDepthWorkMode()

OBDepthWorkMode ob::Device::getCurrentDepthWorkMode ( )

Get current depth work mode.

Returns: ob_depth_work_mode Current depth work mode

◆ switchDepthWorkMode() [1/2]

OBStatus ob::Device::switchDepthWorkMode ( const OBDepthWorkMode & workMode )

Switch depth work mode by OBDepthWorkMode. Prefer invoke switchDepthWorkMode(const char *modeName) to switch depth mode when known the complete name of depth work mode.

Parameters

[in] workMode Depth work mode come from ob_depth_work_mode_list which return by ob_device_get_depth_work_mode_list

◆ switchDepthWorkMode() [2/2]

OBStatus ob::Device::switchDepthWorkMode ( const char * modeName )

Switch depth work mode by work mode name.

Parameters

[in] modeName Depth work mode name which equals to OBDepthWorkMode.name

◆ getDepthWorkModeList()

std::shared_ptr< OBDepthWorkModeList > ob::Device::getDepthWorkModeList ( )

Request support depth work mode list.

Returns: OBDepthWorkModeList list of ob_depth_work_mode

◆ reboot() [1/2]

void ob::Device::reboot ( )

Device restart.

Attention: The device will be disconnected and reconnected. After the device is disconnected, the access to the Device object interface may be abnormal. Please delete the object directly and obtain it again after the device is reconnected.

◆ reboot() [2/2]

void ob::Device::reboot ( uint32_t delayMs )

Device restart delay mode.

Attention: The device will be disconnected and reconnected. After the device is disconnected, the access to the Device object interface may be abnormal. Please delete the object directly and obtain it again after the device is reconnected. Support devices: Gemini2 L

Parameters

[in] delayMs Time unit：ms。delayMs == 0：No delay；delayMs > 0, Delay millisecond connect to host device after reboot

◆ syncDeviceTime()

DEPRECATED uint64_t ob::Device::syncDeviceTime ( )

Synchronize the device time (synchronize local system time to device)

Deprecated:: This interface is deprecated, please use timerSyncWithHost instead.

Returns: The command (round trip time, rtt)

◆ getSyncConfig()

DEPRECATED OBDeviceSyncConfig ob::Device::getSyncConfig ( )

get the current device synchronization configuration

Device synchronization: including exposure synchronization function and multi-camera synchronization function of different sensors within a single machine

Deprecated:: This interface is deprecated, please use getMultiDeviceSyncConfig instead.

Returns: OBDeviceSyncConfig return the device synchronization configuration

◆ setSyncConfig()

DEPRECATED void ob::Device::setSyncConfig ( const OBDeviceSyncConfig & deviceSyncConfig )

Set the device synchronization configuration.

Used to configure the exposure synchronization function and multi-camera synchronization function of different sensors in a single machine

Deprecated:: This interface is deprecated, please use setMultiDeviceSyncConfig instead.

Attention: Calling this function will directly write the configuration to the device Flash, and it will still take effect after the device restarts. To avoid affecting the Flash lifespan, do not update the configuration frequently.

Parameters

deviceSyncConfig Device synchronization configuration

◆ getSupportedMultiDeviceSyncModeBitmap()

uint16_t ob::Device::getSupportedMultiDeviceSyncModeBitmap ( )

Get the supported multi device sync mode bitmap of the device.

For example, if the return value is 0b00001100, it means the device supports OB_MULTI_DEVICE_SYNC_MODE_PRIMARY and OB_MULTI_DEVICE_SYNC_MODE_SECONDARY. User can check the supported mode by the code:

if(supported_mode_bitmap & OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN){
   //support OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN
}
if(supported_mode_bitmap & OB_MULTI_DEVICE_SYNC_MODE_STANDALONE){
  //support OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
}
// and so on

Returns: uint16_t return the supported multi device sync mode bitmap of the device.

◆ setMultiDeviceSyncConfig()

void ob::Device::setMultiDeviceSyncConfig ( const OBMultiDeviceSyncConfig & config )

set the multi device sync configuration of the device.

Parameters

[in] config The multi device sync configuration.

◆ getMultiDeviceSyncConfig()

OBMultiDeviceSyncConfig ob::Device::getMultiDeviceSyncConfig ( )

get the multi device sync configuration of the device.

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

◆ triggerCapture()

void ob::Device::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.; 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.; If the device is not in the OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.

◆ setTimestampResetConfig()

void ob::Device::setTimestampResetConfig ( const OBDeviceTimestampResetConfig & config )

set the timestamp reset configuration of the device.

◆ getTimestampResetConfig()

OBDeviceTimestampResetConfig ob::Device::getTimestampResetConfig ( )

get the timestamp reset configuration of the device.

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

◆ timestampReset()

void ob::Device::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.; 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.

◆ timerSyncWithHost()

void ob::Device::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.; 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.

◆ loadDepthFilterConfig()

void ob::Device::loadDepthFilterConfig ( const char * filePath )

Load depth filter config from file.

Parameters

filePath Path of the config file.

◆ resetDefaultDepthFilterConfig()

void ob::Device::resetDefaultDepthFilterConfig ( )

Reset depth filter config to device default define.

◆ getCurrentPresetName()

const char * ob::Device::getCurrentPresetName ( )

Get current preset name.

The preset mean a set of parameters or configurations that can be applied to the device to achieve a specific effect or function.

Returns: const char* return the current preset name, it should be one of the preset names returned by getAvailablePresetList.

◆ getCurrentDepthModeName()

const char * ob::Device::getCurrentDepthModeName ( )

Get current depth mode name.

According the current preset name to return current depth mode name

Returns: const char* return the current depth mode name.

◆ loadPreset()

void ob::Device::loadPreset ( const char * presetName )

load the preset according to the preset name.

Attention: After loading the preset, the settings in the preset will set to the device immediately. Therefore, it is recommended to re-read the device settings to update the user program temporarily.

Parameters

presetName The preset name to set. The name should be one of the preset names returned by getAvailablePresetList.

◆ getAvailablePresetList()

std::shared_ptr< DevicePresetList > ob::Device::getAvailablePresetList ( )

Get available preset list.

The available preset list usually defined by the device manufacturer and restores on the device.

User can load the custom preset by calling loadPresetFromJsonFile to append the available preset list.

Returns: DevicePresetList return the available preset list.

◆ loadPresetFromJsonFile()

void ob::Device::loadPresetFromJsonFile ( const char * filePath )

Load custom preset from file.

After loading the custom preset, the settings in the custom preset will set to the device immediately.

After loading the custom preset, the available preset list will be appended with the custom preset and named as the file name.

Attention: The user should ensure that the custom preset file is adapted to the device and the settings in the file are valid.; It is recommended to re-read the device settings to update the user program temporarily after successfully loading the custom preset.

Parameters

filePath The path of the custom preset file.

◆ loadPresetFromJsonData()

void ob::Device::loadPresetFromJsonData	(	const char *	presetName,
		const uint8_t *	data,
		uint32_t	size
	)

Load custom preset from data.

After loading the custom preset, the settings in the custom preset will set to the device immediately.

After loading the custom preset, the available preset list will be appended with the custom preset and named as the presetName.

Attention: The user should ensure that the custom preset data is adapted to the device and the settings in the data are valid.; It is recommended to re-read the device settings to update the user program temporarily after successfully loading the custom preset.

Parameters

data	The custom preset data.
size	The size of the custom preset data.

◆ exportSettingsAsPresetJsonFile()

void ob::Device::exportSettingsAsPresetJsonFile ( const char * filePath )

Export current device settings as a preset json file.

The exported preset file can be loaded by calling loadPresetFromJsonFile to restore the device setting.

After exporting the preset, a new preset named as the filePath will be added to the available preset list.

Parameters

filePath The path of the preset file to be exported.

◆ exportSettingsAsPresetJsonData()

void ob::Device::exportSettingsAsPresetJsonData	(	const char *	presetName,
		const uint8_t **	data,
		uint32_t *	dataSize
	)

Export current device settings as a preset json data.

After exporting the preset, a new preset named as the presetName will be added to the available preset list.

Attention: The memory of the data is allocated by the SDK, and will automatically be released by the SDK.; The memory of the data will be reused by the SDK on the next call, so the user should copy the data to a new buffer if it needs to be preserved.

Parameters

[out]	data	return the preset json data.
[out]	dataSize	return the size of the preset json data.

Friends And Related Symbol Documentation

◆ Pipeline

friend class Pipeline

friend

Definition at line 632 of file Device.hpp.

◆ Recorder

friend class Recorder

friend

Definition at line 633 of file Device.hpp.

◆ CoordinateTransformHelper

friend class CoordinateTransformHelper

friend

Definition at line 634 of file Device.hpp.

Member Data Documentation

◆ impl_

std::unique_ptr<DeviceImpl> ob::Device::impl_

protected

Definition at line 31 of file Device.hpp.

The documentation for this class was generated from the following file:

E:/Projects/Jenkins/workspace/OrbbecSDK/libobsensor/include/libobsensor/hpp/Device.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Device() [1/2]

◆ Device() [2/2]

◆ ~Device()

Member Function Documentation

◆ getDeviceInfo()

◆ getSensorList()

◆ getSensor()

◆ setIntProperty()

◆ setFloatProperty()

◆ setBoolProperty()

◆ getIntProperty()

◆ getFloatProperty()

◆ getBoolProperty()

◆ getIntPropertyRange()

◆ getFloatPropertyRange()

◆ getBoolPropertyRange()

◆ writeAHB()

◆ readAHB()

◆ writeI2C()

◆ readI2C()

◆ writeFlash()

◆ readFlash()

◆ writeCustomerData()

◆ readCustomerData()

◆ setRawData()

◆ getRawData()

◆ setStructuredData()

◆ getStructuredData()

◆ setStructuredDataExt()

◆ getStructuredDataExt()

◆ getProtocolVersion()

◆ getCmdVersion()

◆ getSupportedPropertyCount()

◆ getSupportedProperty()

◆ isPropertySupported()

◆ isGlobalTimestampSupported()

◆ deviceUpgrade()

◆ deviceUpgradeFromData()

◆ sendFile()

◆ getDeviceState()

◆ setDeviceStateChangedCallback()

◆ activateAuthorization()

◆ writeAuthorizationCode()

◆ getCalibrationCameraParamList()

◆ getCurrentDepthWorkMode()

◆ switchDepthWorkMode() [1/2]

◆ switchDepthWorkMode() [2/2]

◆ getDepthWorkModeList()

◆ reboot() [1/2]

◆ reboot() [2/2]

◆ syncDeviceTime()

◆ getSyncConfig()

◆ setSyncConfig()

◆ getSupportedMultiDeviceSyncModeBitmap()

◆ setMultiDeviceSyncConfig()

◆ getMultiDeviceSyncConfig()

◆ triggerCapture()

◆ setTimestampResetConfig()

◆ getTimestampResetConfig()

◆ timestampReset()

◆ timerSyncWithHost()

◆ loadDepthFilterConfig()

◆ resetDefaultDepthFilterConfig()

◆ getCurrentPresetName()

◆ getCurrentDepthModeName()

◆ loadPreset()

◆ getAvailablePresetList()

◆ loadPresetFromJsonFile()

◆ loadPresetFromJsonData()

◆ exportSettingsAsPresetJsonFile()

◆ exportSettingsAsPresetJsonData()

Friends And Related Symbol Documentation

◆ Pipeline

◆ Recorder