ob2types.h

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#pragma once
 
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stdint.h>
 
typedef struct OB2ContextImpl *ob2_context_t;
 
typedef struct OB2DeviceImpl *ob2_device_t;
 
typedef struct OB2CamerasConfigImpl *ob2_cameras_config_t;
 
typedef struct OB2CaptureImpl *ob2_capture_t;
 
typedef struct OB2ImageImpl *ob2_image_t;
 
typedef struct OB2ImuConfigImpl *ob2_imu_config_t;
 
typedef struct OB2ImuSampleImpl *ob2_imu_sample_t;
 
typedef struct OB2TransformationImpl *ob2_transformation_t;
 
typedef struct OB2ImageFormatConverterImpl *ob2_image_format_converter_t;
 
typedef struct OB2RecordImpl *ob2_record_t;
 
typedef struct OB2PlaybackImpl *ob2_playback_t;
 
typedef struct OB2CompressionImpl *ob2_compression_t;
 
typedef struct OB2DecompressionImpl *ob2_decompression_t;
 
#pragma pack(push, 1)  
 
#define OB2_DEFAULT_SDK_CONFIG_FILE_PATH ("")
 
#define OB2_DEFAULT_DEVICE (0)
 
#define OB2_DEFAULT_STREAM_PROFILE (0)
 
#define OB2_DEFAULT_CAMERAS_CONFIG (nullptr)
 
#define OB2_DEFAULT_IMU_CONFIG (nullptr)
 
#define OB2_ANY_WIDTH (0)
 
#define OB2_ANY_HEIGHT (0)
 
#define OB2_ANY_FRAME_RATE (0)
 
#define OB2_ANY_IAMGE_FORMAT (OB2_FORMAT_ANY)
 
#define OB2_WAIT_INFINITE (-1)
 
#define OB2_FIRST_SAMPLE (0)
 
typedef enum {
    OB2_STATUS_OK = 0,
 
    OB2_STATUS_LOGIC_ERROR = 1,
 
    OB2_STATUS_RUNTIME_ERROR = 2,
 
    OB2_STATUS_UNKNOWN_ERROR = 255
} ob2_status_code_t;
 
typedef struct {
    ob2_status_code_t code;
    char message[256];
    char function[256];
    char args[256];
} ob2_status_t;
 
typedef struct {
    uint32_t major;
 
    uint32_t minor;
 
    uint32_t patch;
} ob2_version_t;
 
typedef enum {
    OB2_LOG_SEVERITY_DEBUG = 0,
 
    OB2_LOG_SEVERITY_INFO = 1,
 
    OB2_LOG_SEVERITY_WARN = 2,
 
    OB2_LOG_SEVERITY_ERROR = 3,
 
    OB2_LOG_SEVERITY_FATAL = 4,
 
    OB2_LOG_SEVERITY_NONE = 5
} ob2_log_severity_t;
 
typedef enum {
    OB2_LOGGER_CONSOLE = 1,  
    OB2_LOGGER_FILE    = 2,  
    OB2_LOGGER_ALL     = 3,  
} ob2_logger_type_t;
 
typedef struct {
    uint32_t vid;
 
    uint32_t pid;
 
    char url[128];
 
    char serial_number[16];
 
    char connection_type[16];
} ob2_device_installation_info_t;
 
typedef enum {
    OB2_3D_TECH_MONOCULAR_STRUCTURED_LIGHT = 0,  
    OB2_3D_TECH_BINOCULAR_STRUCTURED_LIGHT = 1,  
    OB2_3D_TECH_INDIRECT_TOF               = 2,  
    OB2_3D_TECH_DIRECT_TOF                 = 3,  
} ob2_3d_technology_type_t;
 
typedef struct {
    uint32_t vid;
 
    uint32_t pid;
 
    char url[128];
 
    char serial_number[16];
 
    char connection_type[16];
 
    char name[16];
 
    char firmware_version[16];
 
    char hardware_version[16];
 
    ob2_3d_technology_type_t technology;
} ob2_device_info_t;
 
typedef enum {
    OB2_CAMERA_UNKNOWN = 0,  
    OB2_CAMERA_COLOR   = 1,  
    OB2_CAMERA_DEPTH   = 2,  
    OB2_CAMERA_IR      = 3,  
} ob2_camera_type_t;
 
typedef enum {
    OB2_FORMAT_YUYV = 0,
 
    OB2_FORMAT_YUY2 = 1,
 
    OB2_FORMAT_UYVY = 2,
 
    OB2_FORMAT_NV12 = 3,
 
    OB2_FORMAT_NV21 = 4,
 
    OB2_FORMAT_MJPG = 5,
 
    OB2_FORMAT_H264 = 6,
 
    OB2_FORMAT_H265 = 7,
 
    OB2_FORMAT_Y16 = 8,
 
    OB2_FORMAT_Y8 = 9,
 
    OB2_FORMAT_Y10 = 10,
 
    OB2_FORMAT_Y11 = 11,
 
    OB2_FORMAT_Y12 = 12,
 
    OB2_FORMAT_GRAY = 13,
 
    OB2_FORMAT_HEVC = 14,
 
    OB2_FORMAT_I420 = 15,
 
    OB2_FORMAT_POINT = 19,
 
    OB2_FORMAT_COLORED_POINT = 20,
 
    OB2_FORMAT_RLE = 21,
 
    OB2_FORMAT_RGB = 22,
 
    OB2_FORMAT_BGR = 23,
 
    OB2_FORMAT_Y14 = 24,
 
    OB2_FORMAT_BGRA = 25,
 
    OB2_FORMAT_COMPRESSED = 26,
 
    OB2_FORMAT_ANY = 0xfe,
 
    OB2_FORMAT_UNKNOWN = 0xff,
} ob2_image_format_t;
 
typedef enum {
    OB2_POINT_CLOUD         = 0,  
    OB2_COLORED_POINT_CLOUD = 1,  
} ob2_point_cloud_type_t;
 
typedef struct {
    float x;
    float y;
    float z;
} ob2_3d_point_t;
 
typedef struct {
    float x;
    float y;
    float z;
    float r;
    float g;
    float b;
} ob2_colored_3d_point_t;
 
typedef struct {
    uint16_t width_pixels;
 
    uint16_t height_pixels;
 
    uint16_t frame_rate;
 
    ob2_image_format_t format;
} ob2_camera_stream_profile_t;
 
typedef enum {
    OB2_DISABLE = 0,  
    OB2_ENABLE  = 1,  
} ob2_enable_ctrl_t;
 
typedef enum {
    OB2_IMAGES_SYNC_MODE_WAIT_LATER_COMER = 0,
 
    OB2_IMAGES_SYNC_MODE_DEVICE_TIMESTAMP_MATCH = 1,
} ob2_images_sync_mode_t;
 
typedef enum {
    OB2_PRODUCE_CAPTURE_SYNC_IMAGES_ONLY = 0,
 
    OB2_PRODUCE_CAPTURE_KEEP_COLOR_IMAGE = 1,
 
    OB2_PRODUCE_CAPTURE_KEEP_ALL_IMAGES = 2,
} ob2_produce_capture_policy_t;
 
typedef enum {
    OB2_IMAGES_ALIGN_MODE_DISABLE = 0,
    OB2_IMAGES_ALIGN_MODE_D2C_HARDWARE = 1,
    OB2_IMAGES_ALIGN_MODE_D2C_SOFTWARE = 2,
} ob2_images_align_mode_t;
 
typedef enum {
    OB2_IMU_SENSOR_UNKNOWN = 0,
 
    OB2_IMU_SENSOR_ACCEL = 1,
 
    OB2_IMU_SENSOR_GYRO = 2,
} ob2_imu_sensor_type_t;
 
typedef enum {
    OB2_SAMPLE_RATE_1_5625_HZ = 1,   
    OB2_SAMPLE_RATE_3_125_HZ  = 2,   
    OB2_SAMPLE_RATE_6_25_HZ   = 3,   
    OB2_SAMPLE_RATE_12_5_HZ   = 4,   
    OB2_SAMPLE_RATE_25_HZ     = 5,   
    OB2_SAMPLE_RATE_50_HZ     = 6,   
    OB2_SAMPLE_RATE_100_HZ    = 7,   
    OB2_SAMPLE_RATE_200_HZ    = 8,   
    OB2_SAMPLE_RATE_500_HZ    = 9,   
    OB2_SAMPLE_RATE_1_KHZ     = 10,  
    OB2_SAMPLE_RATE_2_KHZ     = 11,  
    OB2_SAMPLE_RATE_4_KHZ     = 12,  
    OB2_SAMPLE_RATE_8_KHZ     = 13,  
    OB2_SAMPLE_RATE_16_KHZ    = 14,  
    OB2_SAMPLE_RATE_32_KHZ    = 15,  
} ob2_gyro_sample_rate_t,
    ob2_accel_sample_rate_t;
 
typedef enum {
    OB2_GYRO_FS_16_DPS = 1,
 
    OB2_GYRO_FS_31_DPS = 2,
 
    OB2_GYRO_FS_62_DPS = 3,
 
    OB2_GYRO_FS_125_DPS = 4,
 
    OB2_GYRO_FS_245_DPS = 5,
 
    OB2_GYRO_FS_250_DPS = 6,
 
    OB2_GYRO_FS_500_DPS = 7,
 
    OB2_GYRO_FS_1000_DPS = 8,
 
    OB2_GYRO_FS_2000_DPS = 9,
} ob2_gyro_full_scale_range_t;
 
typedef enum {
    OB2_ACCEL_FS_2_G = 1,
 
    OB2_ACCEL_FS_4_G = 2,
 
    OB2_ACCEL_FS_8_G = 3,
 
    OB2_ACCEL_FS_16_G = 4,
} ob2_accel_full_scale_range_t;
 
typedef struct {
    ob2_gyro_sample_rate_t      sample_rate;       
    ob2_gyro_full_scale_range_t full_scale_range;  
} ob2_gyro_stream_profile_t;
 
typedef struct {
    ob2_accel_sample_rate_t      sample_rate;       
    ob2_accel_full_scale_range_t full_scale_range;  
} ob2_accel_stream_profile_t;
 
typedef struct {
    uint64_t timestamp_usec;
    float    temperature;  
    float    x;            
    float    y;
    float    z;
} ob2_accel_sample_t, ob2_gyro_sample_t;
 
typedef enum {
    OB2_PROP_LDP_BOOL = 2,
 
    OB2_PROP_LASER_BOOL = 3,
 
    OB2_PROP_LASER_PULSE_WIDTH_INT = 4,
 
    OB2_PROP_LASER_CURRENT_FLOAT = 5,
 
    OB2_PROP_FLOOD_BOOL = 6,
 
    OB2_PROP_FLOOD_LEVEL_INT = 7,
 
    OB2_PROP_DEPTH_MIRROR_BOOL = 14,
 
    OB2_PROP_DEPTH_FLIP_BOOL = 15,
 
    OB2_PROP_DEPTH_POSTFILTER_BOOL = 16,
 
    OB2_PROP_DEPTH_HOLEFILTER_BOOL = 17,
 
    OB2_PROP_IR_MIRROR_BOOL = 18,
 
    OB2_PROP_IR_FLIP_BOOL = 19,
 
    OB2_PROP_MIN_DEPTH_INT = 22,
 
    OB2_PROP_MAX_DEPTH_INT = 23,
 
    OB2_PROP_DEPTH_SOFT_FILTER_BOOL = 24,
 
    OB2_PROP_LDP_STATUS_BOOL = 32,
 
    OB2_PROP_DEPTH_MAX_DIFF_INT = 40,
 
    OB2_PROP_DEPTH_MAX_SPECKLE_SIZE_INT = 41,
 
    OB2_PROP_DEPTH_ALIGN_HARDWARE_BOOL = 42,
 
    OB2_PROP_TIMESTAMP_OFFSET_INT = 43,
 
    OB2_PROP_HARDWARE_DISTORTION_SWITCH_BOOL = 61,
 
    OB2_PROP_FAN_WORK_MODE_INT = 62,
 
    OB2_PROP_DEPTH_ALIGN_HARDWARE_MODE_INT = 63,
 
    OB2_PROP_ANTI_COLLUSION_ACTIVATION_STATUS_BOOL = 64,
 
    OB2_PROP_DEPTH_PRECISION_LEVEL_INT = 75,
 
    OB2_PROP_TOF_FILTER_RANGE_INT = 76,
 
    OB2_PROP_LASER_MODE_INT = 79,
 
    OB2_PROP_RECTIFY2_BOOL = 80,
 
    OB2_PROP_COLOR_MIRROR_BOOL = 81,
 
    OB2_PROP_COLOR_FLIP_BOOL = 82,
 
    OB2_PROP_INDICATOR_LIGHT_BOOL = 83,
 
    OB2_PROP_DISPARITY_TO_DEPTH_BOOL = 85,
 
    OB2_PROP_BRT_BOOL = 86,
 
    OB2_PROP_WATCHDOG_BOOL = 87,
 
    OB2_PROP_EXTERNAL_SIGNAL_RESET_BOOL = 88,
 
    OB2_PROP_HEARTBEAT_BOOL = 89,
 
    OB2_PROP_DEPTH_CROPPING_MODE_INT = 90,
 
    OB2_PROP_D2C_PREPROCESS_BOOL = 91,
 
    OB2_PROP_RGB_CUSTOM_CROP_BOOL = 94,
 
    OB2_PROP_DEVICE_WORK_MODE_INT = 95,
 
    OB2_PROP_DEVICE_COMMUNICATION_TYPE_INT = 97,
 
    OB2_PROP_SWITCH_IR_MODE_INT = 98,
 
    OB2_STRUCT_BASELINE_CALIBRATION_PARAM = 1002,
 
    OB2_STRUCT_DEVICE_TEMPERATURE = 1003,
 
    OB2_STRUCT_TOF_EXPOSURE_THRESHOLD_CONTROL = 1024,
 
    OB2_STRUCT_DEVICE_SERIAL_NUMBER = 1035,
 
    OB2_STRUCT_DEVICE_TIME = 1037,
 
    OB2_STRUCT_MULTI_DEVICE_SYNC_CONFIG = 1038,
 
    OB2_STRUCT_RGB_CROP_ROI = 1040,
 
    OB2_STRUCT_DEVICE_IP_ADDR_CONFIG = 1041,
 
    OB2_PROP_COLOR_AUTO_EXPOSURE_BOOL = 2000,
 
    OB2_PROP_COLOR_EXPOSURE_INT = 2001,
 
    OB2_PROP_COLOR_GAIN_INT = 2002,
 
    OB2_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL = 2003,
 
    OB2_PROP_COLOR_WHITE_BALANCE_INT = 2004,
 
    OB2_PROP_COLOR_BRIGHTNESS_INT = 2005,
 
    OB2_PROP_COLOR_SHARPNESS_INT = 2006,
 
    OB2_PROP_COLOR_SATURATION_INT = 2008,
 
    OB2_PROP_COLOR_CONTRAST_INT = 2009,
 
    OB2_PROP_COLOR_GAMMA_INT = 2010,
 
    OB2_PROP_COLOR_ROLL_INT = 2011,
 
    OB2_PROP_COLOR_AUTO_EXPOSURE_PRIORITY_INT = 2012,
 
    OB2_PROP_COLOR_BACKLIGHT_COMPENSATION_INT = 2013,
 
    OB2_PROP_COLOR_HUE_INT = 2014,
 
    OB2_PROP_COLOR_POWER_LINE_FREQUENCY_INT = 2015,
 
    OB2_PROP_DEPTH_AUTO_EXPOSURE_BOOL = 2016,
 
    OB2_PROP_DEPTH_EXPOSURE_INT = 2017,
 
    OB2_PROP_DEPTH_GAIN_INT = 2018,
 
    OB2_PROP_IR_AUTO_EXPOSURE_BOOL = 2025,
 
    OB2_PROP_IR_EXPOSURE_INT = 2026,
 
    OB2_PROP_IR_GAIN_INT = 2027,
 
    OB2_PROP_IR_SWITCH_INT = 2028,
 
    OB2_PROP_SDK_DISPARITY_TO_DEPTH_BOOL = 3004,
 
    OB2_PROP_SDK_DEPTH_FRAME_UNPACK_BOOL = 3007,
 
    OB2_PROP_SDK_IR_FRAME_UNPACK_BOOL = 3008,
 
    OB2_RAW_DATA_CAMERA_CALIB_JSON_FILE = 4029,
 
    OB2_RAW_DATA_D2C_ROT_LUT_FILE = 4030,
 
    OB2_STRUCT_DEBUG_SENSOR_EXPOSURE_TIME = 5504,
} ob2_command_id_t;
 
typedef enum {
    OB2_UNKNOWN_COMMAND_TYPE = 0,  
    OB2_BOOL_PROPERTY        = 1,  
    OB2_INT_PROPERTY         = 2,  
    OB2_FLOAT_PROPERTY       = 3,  
    OB2_ENUM_PROPERTY        = 4,  
    OB2_STRUCTURED_DATA      = 5,  
    OB2_RAW_DATA             = 6,  
} ob2_command_type_t;
 
typedef enum {
    OB2_PERMISSION_DENY = 0,
 
    OB2_PERMISSION_READ = 1,
 
    OB2_PERMISSION_WRITE = 2,
 
    OB2_PERMISSION_READ_WRITE = 3,
} ob2_access_permission_t;
 
typedef struct {
    ob2_command_id_t        id;          
    ob2_command_type_t      type;        
    uint32_t                version;     
    char                    name[64];    
    ob2_access_permission_t permission;  
} ob2_command_info_t;
 
typedef struct {
    int max;   
    int min;   
    int step;  
    int def;   
} ob2_int_property_capability_t;
 
typedef struct {
    float max;   
    float min;   
    float step;  
    float def;   
} ob2_float_property_capability_t;
 
typedef struct {
    uint32_t count;            
    int      value_list[254];  
} ob2_enum_property_capability_t;
 
typedef struct {
    uint32_t item_count;         
    uint32_t item_stride_bytes;  
    uint32_t data_size;          
    uint8_t *data;               
} ob2_data_bundle_t;
 
typedef enum {
    OB2_STAT_FILE_TRANSFER = 4,
 
    OB2_STAT_DONE = 3,
 
    OB2_STAT_IN_PROGRESS = 2,
 
    OB2_STAT_START = 1,
 
    OB2_STAT_VERIFY_IMAGE = 0,
 
    OB2_ERR_VERIFY = -1,
 
    OB2_ERR_PROGRAM = -2,
 
    OB2_ERR_ERASE = -3,
 
    OB2_ERR_FLASH_TYPE = -4,
 
    OB2_ERR_IMAGE_SIZE = -5,
 
    OB2_ERR_OTHER = -6,
 
    OB2_ERR_DDR = -7,
 
    OB2_ERR_TIMEOUT = -8
} ob2_update_state_t;
 
typedef struct {
    float   fx;      
    float   fy;      
    float   cx;      
    float   cy;      
    int16_t width;   
    int16_t height;  
} ob2_camera_intrinsic_t;
 
typedef struct {
    float k1;  
    float k2;  
    float k3;  
    float k4;  
    float k5;  
    float k6;  
    float p1;  
    float p2;  
} ob2_camera_distortion_t;
 
typedef struct {
    float rot[9];    
    float trans[3];  
} ob2_d2c_transform_t;
 
typedef struct {
    ob2_camera_intrinsic_t  depth_intrinsic;   
    ob2_camera_intrinsic_t  color_Intrinsic;   
    ob2_camera_distortion_t depth_distortion;  
    ob2_camera_distortion_t color_distortion;  
    ob2_d2c_transform_t     transform;         
} ob2_cameras_calibration_t;
 
typedef enum {
    OB2_PLAYBACK_BEGIN = 0,
 
    OB2_PLAYBACK_PAUSE = 1,
 
    OB2_PLAYBACK_RESUME = 2,
 
    OB2_PLAYBACK_END = 3,
} ob2_playback_state_t;
 
typedef enum {
    OB2_CAMERA_SYNC_MODE_CLOSE = 0,
    OB2_CAMERA_SYNC_MODE_COLOR_EXPOSURE_FIRST = 1,
    OB2_CAMERA_SYNC_MODE_DEPTH_EXPOSURE_FIRST = 2,
} ob2_cameras_sync_mode_t;
 
typedef enum {
    OB2_WIRED_SYNC_MODE_STANDALONE = 0,
    OB2_WIRED_SYNC_MODE_PRIMARY = 1,
    OB2_WIRED_SYNC_MODE_SECONDARY = 2,
} ob2_wired_sync_mode_t;
 
typedef void (*ob2_device_info_cb_t)(ob2_device_installation_info_t device_info, void *user_data);
 
typedef void (*ob2_firmware_update_state_cb_t)(ob2_update_state_t state, const char *message, uint8_t percent, void *user_data);
 
typedef void (*ob2_capture_cb_t)(ob2_capture_t capture_handle, void *user_data);
 
typedef void (*ob2_buffer_release_cb_t)(uint8_t *buffer, void *user_data);
 
typedef void (*ob2_imu_sample_cb_t)(ob2_imu_sample_t imu_sample_handle, void *user_data);
 
typedef void (*ob2_playback_state_cb_t)(ob2_playback_state_t state, void *user_data);
 
#pragma pack(pop)
 
#ifdef __cplusplus
}
#endif