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"

Macros
#define	ob_config_set_depth_scale_require ob_config_set_depth_scale_after_align_require

Functions
OB_EXPORT ob_pipeline *	ob_create_pipeline (ob_error **error)
	Create a pipeline object.
OB_EXPORT ob_pipeline *	ob_create_pipeline_with_device (const ob_device dev, ob_error *error)
	Using device objects to create pipeline objects.
OB_EXPORT void	ob_delete_pipeline (ob_pipeline pipeline, ob_error *error)
	Delete pipeline objects.
OB_EXPORT void	ob_pipeline_start (ob_pipeline pipeline, ob_error *error)
	Start the pipeline with default parameters.
OB_EXPORT void	ob_pipeline_start_with_config (ob_pipeline pipeline, const ob_config config, ob_error **error)
	Start the pipeline with configuration parameters.
OB_EXPORT void	ob_pipeline_start_with_callback (ob_pipeline pipeline, const ob_config config, ob_frameset_callback callback, void user_data, ob_error *error)
	Start the pipeline and set the frame collection data callback.
OB_EXPORT void	ob_pipeline_stop (ob_pipeline pipeline, ob_error *error)
	Stop pipeline.
OB_EXPORT ob_config *	ob_pipeline_get_config (const ob_pipeline pipeline, ob_error *error)
	Get the configuration object associated with the pipeline.
OB_EXPORT void	ob_pipeline_switch_config (ob_pipeline pipeline, ob_config config, ob_error **error)
	Switch the corresponding configuration.
OB_EXPORT 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_EXPORT ob_device *	ob_pipeline_get_device (const ob_pipeline pipeline, ob_error *error)
	Get the device object associated with the pipeline.
OB_EXPORT ob_stream_profile_list *	ob_pipeline_get_stream_profile_list (const ob_pipeline pipeline, ob_sensor_type sensorType, ob_error *error)
	Get the stream profile list associated with the pipeline.
OB_EXPORT void	ob_pipeline_enable_frame_sync (ob_pipeline pipeline, ob_error *error)
	Enable frame synchronization.
OB_EXPORT void	ob_pipeline_disable_frame_sync (ob_pipeline pipeline, ob_error *error)
	Disable frame synchronization.
OB_EXPORT ob_stream_profile_list *	ob_get_d2c_depth_profile_list (const ob_pipeline pipeline, const 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_EXPORT ob_config *	ob_create_config (ob_error **error)
	Create the pipeline configuration.
OB_EXPORT void	ob_delete_config (ob_config config, ob_error *error)
	Delete the pipeline configuration.
OB_EXPORT void	ob_config_enable_stream (ob_config config, ob_stream_type stream_type, ob_error *error)
	Enable a stream with default profile.
OB_EXPORT void	ob_config_enable_all_stream (ob_config config, ob_error *error)
	Enable all streams in the pipeline configuration.
OB_EXPORT void	ob_config_enable_stream_with_stream_profile (ob_config config, const ob_stream_profile profile, ob_error **error)
	Enable a stream according to the stream profile.
OB_EXPORT void	ob_config_enable_video_stream (ob_config config, ob_stream_type stream_type, uint32_t width, uint32_t height, uint32_t fps, ob_format format, ob_error *error)
	Enable video stream with specified parameters.
OB_EXPORT 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 accelerometer stream with specified parameters.
OB_EXPORT 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 gyroscope stream with specified parameters.
OB_EXPORT ob_stream_profile_list *	ob_config_get_enabled_stream_profile_list (const ob_config config, ob_error *error)
	Get the enabled stream profile list in the pipeline configuration.
OB_EXPORT void	ob_config_disable_stream (ob_config config, ob_stream_type type, ob_error *error)
	Disable a specific stream in the pipeline configuration.
OB_EXPORT void	ob_config_disable_all_stream (ob_config config, ob_error *error)
	Disable all streams in the pipeline configuration.
OB_EXPORT 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_EXPORT void	ob_config_set_depth_scale_after_align_require (ob_config config, bool enable, ob_error *error)
	Set whether depth scaling is required after enable depth to color alignment.
OB_EXPORT 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_EXPORT ob_camera_param	ob_pipeline_get_camera_param (ob_pipeline pipeline, ob_error *error)
	Get current camera parameters.
OB_EXPORT 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_EXPORT 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.

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.

Macro Definition Documentation

◆ ob_config_set_depth_scale_require

#define ob_config_set_depth_scale_require ob_config_set_depth_scale_after_align_require

Definition at line 330 of file Pipeline.h.

Function Documentation

◆ ob_create_pipeline()

OB_EXPORT ob_pipeline * ob_create_pipeline ( ob_error ** error )

Create a pipeline object.

Parameters

[out] error Pointer to an error object that will be set if an error occurs.

Returns: ob_pipeline* return the pipeline object

Referenced by ob::Pipeline::Pipeline().

◆ ob_create_pipeline_with_device()

OB_EXPORT ob_pipeline * ob_create_pipeline_with_device	(	const ob_device *	dev,
		ob_error **	error )

Using device objects to create pipeline objects.

Parameters

[in]	dev	Device object used to create pipeline
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns: ob_pipeline* return the pipeline object

Referenced by ob::Pipeline::Pipeline().

◆ ob_delete_pipeline()

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

Delete pipeline objects.

Parameters

[in]	pipeline	The pipeline object to be deleted
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Pipeline::~Pipeline().

◆ ob_pipeline_start()

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

Start the pipeline with default parameters.

Parameters

[in]	pipeline	pipeline object
[out]	error	Pointer to an error object that will be set if an error occurs.

◆ ob_pipeline_start_with_config()

OB_EXPORT void ob_pipeline_start_with_config	(	ob_pipeline *	pipeline,
		const 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	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Pipeline::start().

◆ ob_pipeline_start_with_callback()

OB_EXPORT void ob_pipeline_start_with_callback	(	ob_pipeline *	pipeline,
		const ob_config *	config,
		ob_frameset_callback	callback,
		void *	user_data,
		ob_error **	error )

Start the pipeline and set the frame collection data callback.

Attention: After start the pipeline with this interface, the frames will be output to the callback function and cannot be obtained frames by call @ob_pipeline_wait_for_frameset

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	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Pipeline::start().

◆ ob_pipeline_stop()

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

Stop pipeline.

Parameters

[in]	pipeline	pipeline object
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Pipeline::stop().

◆ ob_pipeline_get_config()

OB_EXPORT ob_config * ob_pipeline_get_config	(	const 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	Pointer to an error object that will be set if an error occurs.

Returns: ob_config* The configuration object

Referenced by ob::Pipeline::getConfig().

◆ ob_pipeline_switch_config()

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

Switch the corresponding configuration.

Parameters

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

◆ ob_pipeline_wait_for_frameset()

OB_EXPORT 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	Pointer to an error object that will be set if an error occurs.

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.

Referenced by ob::Pipeline::waitForFrameset().

◆ ob_pipeline_get_device()

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

Get the device object associated with the pipeline.

Parameters

[in]	pipeline	The pipeline object
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns: ob_device* The device object

Referenced by ob::Pipeline::getDevice().

◆ ob_pipeline_get_stream_profile_list()

OB_EXPORT ob_stream_profile_list * ob_pipeline_get_stream_profile_list	(	const 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	Pointer to an error object that will be set if an error occurs.

Returns: ob_stream_profile_list* The stream profile list

Referenced by ob::Pipeline::getStreamProfileList().

◆ ob_pipeline_enable_frame_sync()

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

Enable frame synchronization.

Synchronize the frames of different streams by using the timestamp information of the frames.

Dynamically (when pipeline is started) enable/disable frame synchronization is allowed.

Parameters

[in]	pipeline	The pipeline object
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Pipeline::enableFrameSync().

◆ ob_pipeline_disable_frame_sync()

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

Disable frame synchronization.

Parameters

[in]	pipeline	The pipeline object
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Pipeline::disableFrameSync().

◆ ob_get_d2c_depth_profile_list()

OB_EXPORT ob_stream_profile_list * ob_get_d2c_depth_profile_list	(	const ob_pipeline *	pipeline,
		const 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	Pointer to an error object that will be set if an error occurs.

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

Referenced by ob::Pipeline::getD2CDepthProfileList().

◆ ob_create_config()

OB_EXPORT ob_config * ob_create_config ( ob_error ** error )

Create the pipeline configuration.

Parameters

[out] error Pointer to an error object that will be set if an error occurs.

Returns: ob_config* The configuration object

Referenced by ob::Config::Config().

◆ ob_delete_config()

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

Delete the pipeline configuration.

Parameters

[in]	config	The configuration to be deleted
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::~Config().

◆ ob_config_enable_stream()

OB_EXPORT void ob_config_enable_stream	(	ob_config *	config,
		ob_stream_type	stream_type,
		ob_error **	error )

Enable a stream with default profile.

Parameters

[in]	config	The pipeline configuration object
[in]	stream_type	The type of the stream to be enabled
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::enableStream().

◆ ob_config_enable_all_stream()

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

Enable all streams in the pipeline configuration.

Parameters

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

Referenced by ob::Config::enableAllStream().

◆ ob_config_enable_stream_with_stream_profile()

OB_EXPORT void ob_config_enable_stream_with_stream_profile	(	ob_config *	config,
		const ob_stream_profile *	profile,
		ob_error **	error )

Enable a stream according to the stream profile.

Parameters

[in]	config	The pipeline configuration object
[in]	profile	The stream profile to be enabled
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::enableStream().

◆ ob_config_enable_video_stream()

OB_EXPORT void ob_config_enable_video_stream	(	ob_config *	config,
		ob_stream_type	stream_type,
		uint32_t	width,
		uint32_t	height,
		uint32_t	fps,
		ob_format	format,
		ob_error **	error )

Enable video stream with specified parameters.

Attention: The stream_type should be a video stream type, such as OB_STREAM_IR, OB_STREAM_COLOR, OB_STREAM_DEPTH, etc.

Parameters

[in]	config	The pipeline configuration object
[in]	stream_type	The type of the stream to be enabled
[in]	width	The width of the video stream
[in]	height	The height of the video stream
[in]	fps	The frame rate of the video stream
[in]	format	The format of the video stream
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::enableVideoStream().

◆ ob_config_enable_accel_stream()

OB_EXPORT 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 accelerometer stream with specified parameters.

Parameters

[in]	config	The pipeline configuration object
[in]	full_scale_range	The full scale range of the accelerometer
[in]	sample_rate	The sample rate of the accelerometer
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::enableAccelStream().

◆ ob_config_enable_gyro_stream()

OB_EXPORT 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 gyroscope stream with specified parameters.

Parameters

[in]	config	The pipeline configuration object
[in]	full_scale_range	The full scale range of the gyroscope
[in]	sample_rate	The sample rate of the gyroscope
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::enableGyroStream().

◆ ob_config_get_enabled_stream_profile_list()

OB_EXPORT ob_stream_profile_list * ob_config_get_enabled_stream_profile_list	(	const ob_config *	config,
		ob_error **	error )

Get the enabled stream profile list in the pipeline configuration.

Parameters

config	The pipeline configuration object
error	Pointer to an error object that will be set if an error occurs.

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

Referenced by ob::Config::getEnabledStreamProfileList().

◆ ob_config_disable_stream()

OB_EXPORT 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 object
[in]	type	The type of stream to be disabled
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::disableStream().

◆ ob_config_disable_all_stream()

OB_EXPORT 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 object
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::disableAllStream().

◆ ob_config_set_align_mode()

OB_EXPORT 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 object
[in]	mode	The alignment mode to be set
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::setAlignMode().

◆ ob_config_set_depth_scale_after_align_require()

OB_EXPORT void ob_config_set_depth_scale_after_align_require	(	ob_config *	config,
		bool	enable,
		ob_error **	error )

Set whether depth scaling is required after enable depth to color alignment.

After enabling depth to color alignment, the depth image may need to be scaled to match the color image size.

Parameters

[in]	config	The pipeline configuration object
[in]	enable	Whether scaling is required
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::setDepthScaleRequire().

◆ ob_config_set_frame_aggregate_output_mode()

OB_EXPORT 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 object
[in]	mode	The frame aggregation output mode to be set (default mode is OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
[out]	error	Pointer to an error object that will be set if an error occurs.

Referenced by ob::Config::setFrameAggregateOutputMode().

◆ ob_pipeline_get_camera_param()

OB_EXPORT 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

Referenced by ob::Pipeline::getCameraParam().

◆ ob_pipeline_get_camera_param_with_profile()

OB_EXPORT 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

Referenced by ob::Pipeline::getCameraParamWithProfile().

◆ ob_pipeline_get_calibration_param()

OB_EXPORT 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

Referenced by ob::Pipeline::getCalibrationParam().

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ ob_config_set_depth_scale_require

Function Documentation

◆ ob_create_pipeline()

◆ ob_create_pipeline_with_device()

◆ 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_switch_config()

◆ ob_pipeline_wait_for_frameset()

◆ ob_pipeline_get_device()

◆ ob_pipeline_get_stream_profile_list()

◆ ob_pipeline_enable_frame_sync()

◆ ob_pipeline_disable_frame_sync()

◆ ob_get_d2c_depth_profile_list()

◆ ob_create_config()

◆ ob_delete_config()

◆ ob_config_enable_stream()

◆ ob_config_enable_all_stream()

◆ ob_config_enable_stream_with_stream_profile()

◆ ob_config_enable_video_stream()

◆ ob_config_enable_accel_stream()

◆ ob_config_enable_gyro_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_after_align_require()

◆ ob_config_set_frame_aggregate_output_mode()

◆ ob_pipeline_get_camera_param()

◆ ob_pipeline_get_camera_param_with_profile()

◆ ob_pipeline_get_calibration_param()