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

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

#pragma once
#include "IPipeline.hpp"
#include "IDevice.hpp"
#include "IFrame.hpp"
#include "frame/FrameQueue.hpp"
#include "Config.hpp"
#include "FrameAggregator.hpp"

namespace libobsensor {
class Config;
class Pipeline {
public:
    Pipeline(std::shared_ptr<IDevice> dev);
    virtual ~Pipeline() noexcept;

    void                         start(std::shared_ptr<const Config> cfg = nullptr);
    void                         start(std::shared_ptr<const Config> cfg, FrameCallback callback);
    StreamProfileList            getEnabledStreamProfileList();
    void                         stop();
    std::shared_ptr<IDevice>     getDevice();
    std::shared_ptr<const Frame> waitForFrame(uint32_t timeout_ms = 1000);

    StreamProfileList getD2CDepthProfileList(std::shared_ptr<const StreamProfile> colorProfile, OBAlignMode alignMode);

    OBCameraParam getCameraParam();
    OBCameraParam getCameraParam(uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight);
    OBCalibrationParam getCalibrationParam(std::shared_ptr<Config> cfg);

    void enableFrameSync();
    void disableFrameSync();

    std::shared_ptr<const Config> getConfig();
    void switchConfig(std::shared_ptr<const Config> cfg);
private:
    inline void startStream();
    inline void stopStream();

    void onFrameCallback(std::shared_ptr<const Frame> frame);
    void outputFrame(std::shared_ptr<const Frame> frame);

    void loadDefaultConfig();
    void loadFrameQueueSizeConfig();
    void loadMaxFrameDelayConfig();

    void configAlignMode();
    void resetAlignMode();

    void                    applyConfig(std::shared_ptr<const Config> cfg);
    std::shared_ptr<Config> checkAndSetConfig(std::shared_ptr<const Config> cfg);

    void checkHardwareD2CConfig();

    void enableHardwareD2C(bool enable);

private:
    std::shared_ptr<IDevice>      device_;
    std::shared_ptr<const Config> config_;

    OBStreamState streamState_;
    std::mutex    streamMutex_;

    std::shared_ptr<FrameQueue<const Frame>> outputFrameQueue_;
    FrameCallback                            pipelineCallback_;

    std::shared_ptr<FrameAggregator> frameAggregator_;

    int maxFrameQueueSize_ = 10;
    float maxFrameDelay_ = 0.0f;
};

}  // namespace libobsensor