1.2. SDK Overview

Orbbec SDK v2.6.2 and later supports LiDAR devices such as the Pulsar ME450 and Pulsar SL450.

1.2.1. Terms

ID	Name	Explain
1	LiDAR	Light Detection and Ranging - uses laser pulses to measure distance and create 3D point clouds
2	Firmware	Firmware of LiDAR device
3	Point Cloud	A set of data points in space representing the 3D shape of scanned environment
4	Scan Rate	Frequency at which LiDAR completes full scans
5	Azimuth	Horizontal angle of laser beam direction
6	Zenith	Zenith angle - the angle between the laser beam and the vertical direction
7	Reflectivity	The measure of a surface's ability to reflect laser pulses, affecting the intensity of returned signals

1.2.2. Orbbec SDK v2 Architecture Overview

• Application

OrbbecViewer, Sample, and User Application Implementation.

• Interfaces and Encapsulation Layer

OrbbecSDK Interface Encapsulation and Wrapper Encapsulation.

• High-level Layer

HighLevel encapsulates the core business components and provides interfaces to the outside using a pipeline.

• Basic business layer

The realization of the core business logic framework.

• Platform abstraction layer

Cross-platform components abstract operating system differences and provide a unified access interface.

• Platform implementation layer

The driver implementation of each platform.

1.2.3. SDK Concept Overview

• Context

Context which provides a set of settings includes settings such as device state change callbacks, log levels, and more. The Context can access multiple devices.

• Device

One actual hardware device corresponds to one Device object, which is used to obtain relevant information of the device and control its attributes.

• Pipeline

The HighLevel corresponding object encapsulates the interface for quick access to the SDK. It has simple functions that allow users to quickly get started and use the SDK.

• Config

Provides configuration for enabling data streams, alignment modes, and frame aggregation modes, It is used to control the behavior of the data output.

• StreamProfile

Stream configuration that defines parameters such as resolution, frame rate, and encoding format, It also provides management of camera parameters.

• Frame

Represents a frame of data in the Stream, and also contains relevant information about that frame of data, such as timestamp, type, etc.

• Filter

It mainly refers to some algorithmic processing modules for the composite stream FrameSet, such as point cloud algorithm processing.

• Record

Recording functionality that captures data streams and saves them as files for later analysis or playback.

• Playback

Playback functionality that plays recorded files and supports control over playback speed and other related parameters.

1.2.4. SDK Programming Model

• Standard Flowchart:

The standard flowchart demonstrates how to create a device from the device list, set and get parameters, start stream and get LiDAR data.

• Flowchart using default configuration (stream acquisition based on the default settings in OrbbecSDKConfig.xml):