orbbec-sdk-sys 0.1.2+2.5.5

Low-level Rust bindings for https://github.com/orbbec/OrbbecSDK_v2
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267

// Copyright (c) Orbbec Inc. All Rights Reserved.
// Licensed under the MIT License.

#pragma once

#include "IFrame.hpp"
#include "IStreamProfile.hpp"
#include "exception/ObException.hpp"

#include <atomic>
#include <memory>
#include <mutex>
#include <vector>
#include <typeinfo>

namespace libobsensor {

class logger;
class FrameMemoryPool;
class FrameMemoryAllocator;
class FrameBackendLifeSpan {
public:
    FrameBackendLifeSpan();
    ~FrameBackendLifeSpan();

private:
    std::shared_ptr<Logger>               logger_;
    std::shared_ptr<FrameMemoryPool>      memoryPool_;
    std::shared_ptr<FrameMemoryAllocator> memoryAllocator_;
};

class FrameSet;
class PointsFrame;
class VideoFrame;
class ColorFrame;
class DisparityFrame;
class DepthFrame;
class IRFrame;
class AccelFrame;
class GyroFrame;

using FrameBufferReclaimFunc = std::function<void(void)>;

class Frame : public std::enable_shared_from_this<Frame>, private FrameBackendLifeSpan {
public:
    Frame(uint8_t *data, size_t dataBufSize, OBFrameType type, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);
    Frame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);
    virtual ~Frame() noexcept;

    OBFrameType getType() const;

    uint64_t       getNumber() const;
    void           setNumber(const uint64_t number);
    size_t         getDataSize() const;
    void           setDataSize(size_t dataSize);
    const uint8_t *getData() const;
    uint8_t       *getDataMutable() const;
    void           updateData(const uint8_t *data, size_t dataSize);
    uint64_t       getTimeStampUsec() const;
    void           setTimeStampUsec(uint64_t ts);
    uint64_t       getSystemTimeStampUsec() const;
    void           setSystemTimeStampUsec(uint64_t ts);
    uint64_t       getGlobalTimeStampUsec() const;
    void           setGlobalTimeStampUsec(uint64_t ts);

    size_t         getMetadataSize() const;
    void           updateMetadata(const uint8_t *metadata, size_t metadataSize);
    void           appendMetadata(const uint8_t *metadata, size_t metadataSize);
    const uint8_t *getMetadata() const;

    uint8_t *getMetadataMutable() const;  // use with caution, metadata may be changed while other threads are using it
    void     setMetadataSize(size_t metadataSize);

    void    registerMetadataParsers(std::shared_ptr<IFrameMetadataParserContainer> parsers);
    bool    hasMetadata(OBFrameMetadataType type) const;
    int64_t getMetadataValue(OBFrameMetadataType type) const;

    std::shared_ptr<const StreamProfile> getStreamProfile() const;
    void                                 setStreamProfile(std::shared_ptr<const StreamProfile> streamProfile);
    OBFormat                             getFormat() const;  // get from stream profile

    virtual void copyInfoFromOther(std::shared_ptr<const Frame> otherFrame);

    template <typename T> bool is() const {
        return std::dynamic_pointer_cast<const T>(shared_from_this()) != nullptr;
    }

    // template <typename T> bool               is(){
    //     return std::dynamic_pointer_cast<T>(shared_from_this()) != nullptr;
    // }

    template <typename T> std::shared_ptr<T> as() {
        if(!is<T>()) {
            throw unsupported_operation_exception("unsupported operation, object's type is not require type");
        }

        return std::dynamic_pointer_cast<T>(shared_from_this());
    }

    template <typename T> std::shared_ptr<const T> as() const {
        if(!is<const T>())
            throw unsupported_operation_exception("unsupported operation, object's type is not require type");

        return std::dynamic_pointer_cast<const T>(shared_from_this());
    }

protected:
    size_t getDataBufSize() const;

protected:
    size_t                                         dataSize_;
    uint64_t                                       number_;
    uint64_t                                       timeStampUsec_;
    uint64_t                                       systemTimeStampUsec_;
    uint64_t                                       globalTimeStampUsec_;
    size_t                                         metadataSize_;
    uint8_t                                        metadata_[12 + 255];  // standard uvc payload size is 12bytes, add some extra space for metadata
    std::shared_ptr<IFrameMetadataParserContainer> metadataPhasers_;
    std::shared_ptr<const StreamProfile>           streamProfile_;

    const OBFrameType type_;  // Determined during construction, it is an inherent property of the object and cannot be changed.

private:
    uint8_t const         *frameData_;
    const size_t           dataBufSize_;
    FrameBufferReclaimFunc bufferReclaimFunc_;
};

class VideoFrame : public Frame {
public:
    VideoFrame(uint8_t *data, size_t dataBufSize, OBFrameType type, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);
    VideoFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);

    uint32_t getWidth() const;
    uint32_t getHeight() const;
    uint32_t getFps() const;

    void     setStride(uint32_t stride);
    uint32_t getStride() const;

    void        setPixelType(OBPixelType pixelType);
    OBPixelType getPixelType() const;
    uint8_t     getPixelAvailableBitSize() const;
    void        setPixelAvailableBitSize(uint8_t bitSize);

    virtual void copyInfoFromOther(std::shared_ptr<const Frame> sourceFrame) override;

protected:
    OBPixelType pixelType_;              // 0: depth, 1: disparity for structure light camara， 2： raw phase for tof camara
    uint8_t     availablePixelBitSize_;  // available bit size of each pixel
    uint32_t    stride_ = 0;
};

class ColorFrame : public VideoFrame {
public:
    ColorFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);
};

class DepthFrame : public VideoFrame {
public:
    DepthFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);

    void  setValueScale(float valueScale);
    float getValueScale() const;

    virtual void copyInfoFromOther(std::shared_ptr<const Frame> sourceFrame) override;

private:
    float valueScale_;
};

class ConfidenceFrame : public VideoFrame {
public:
    ConfidenceFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);
};

class IRFrame : public VideoFrame {
public:
    IRFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr, OBFrameType frameType = OB_FRAME_IR);
};

class IRLeftFrame : public IRFrame {
public:
    IRLeftFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);
};

class IRRightFrame : public IRFrame {
public:
    IRRightFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);
};

class PointsFrame : public Frame {
public:
    PointsFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);

    void  setCoordinateValueScale(float valueScale);
    float getCoordinateValueScale() const;

    void     setWidth(uint32_t width);
    uint32_t getWidth() const;

    void     setHeight(uint32_t height);
    uint32_t getHeight() const;

private:
    float    coordValueScale_;  // coordinate value scale, multiply by this value to get actual coordinate value in mm
    uint32_t width_;
    uint32_t height_;
};

class AccelFrame : public Frame {
public:
#pragma pack(push, 1)
    typedef struct {
        OBAccelValue value;  // Acceleration values in three directions (xyz), unit: g (9.80665 m/s^2)
        float        temp;   // Temperature in Celsius
    } Data;
#pragma pack(pop)

public:
    AccelFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);

    OBAccelValue value() const;
    float        temperature() const;
};

class GyroFrame : public Frame {
public:
#pragma pack(push, 1)
    typedef struct {
        OBGyroValue value;  // Acceleration values ​​in three directions (xyz), unit: dps (degrees per second)
        float       temp;   // Temperature in Celsius
    } Data;
#pragma pack(pop)

public:
    GyroFrame(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);

    OBGyroValue value() const;
    float       temperature() const;
};

class FrameSet : public Frame {
    typedef std::function<bool(void *)> ForeachBack;

public:
    FrameSet(uint8_t *data, size_t dataBufSize, FrameBufferReclaimFunc bufferReclaimFunc = nullptr);
    ~FrameSet() noexcept override;

    uint32_t getCount() const;

    std::shared_ptr<const Frame> getFrame(OBFrameType frameType) const;
    std::shared_ptr<const Frame> getFrame(int index) const;

    std::shared_ptr<Frame> getFrameMutable(OBFrameType frameType) const;
    std::shared_ptr<Frame> getFrameMutable(int index) const;

    // It is recommended to use the rvalue reference interface. If you really need it, you can uncomment the following
    // void pushFrame(std::shared_ptr<Frame> frame);
    void pushFrame(std::shared_ptr<const Frame> &&frame);
    void clearAllFrame();

public:
    void foreachFrame(ForeachBack foreachBack) const;
};

}  // namespace libobsensor