├── .clang-format ├── .github ├── ISSUE_TEMPLATE │ └── bug_report.md └── workflows │ └── c-cpp.yml ├── .gitignore ├── CMakeLists.txt ├── LICENSE.txt ├── OrbbecSDK.pc.in ├── OrbbecSDKConfig.cmake ├── README.md ├── README_CN.md ├── cmake ├── DetermineHostPlatform.cmake ├── InstallTargets.cmake ├── OrbbecSDKConfig.cmake.in ├── Packing.cmake ├── UninstallTarget.cmake └── cmake_uninstall.cmake.in ├── doc ├── OrbbecViewer │ ├── Chinese │ │ ├── OrbbecViewer.md │ │ └── images │ │ │ ├── 32.png │ │ │ ├── OrbbecViewer-2.png │ │ │ ├── OrbbecViewer.png │ │ │ ├── Thumbs.db │ │ │ ├── clear.png │ │ │ ├── close_button.png │ │ │ ├── color_pannel.png │ │ │ ├── color_profile_switch.png │ │ │ ├── control_pannel.png │ │ │ ├── d2c_pannel.png │ │ │ ├── d2c_pointcloud.png │ │ │ ├── d2c_roi.png │ │ │ ├── data_manager.png │ │ │ ├── depth_overlay_button.png │ │ │ ├── depth_pannel.png │ │ │ ├── depth_profile_switch.png │ │ │ ├── depth_scale.png │ │ │ ├── device_info.png │ │ │ ├── device_info_button.png │ │ │ ├── femto-upgrade.png │ │ │ ├── fold_button.png │ │ │ ├── frame_info_button.png │ │ │ ├── frame_sync_button.png │ │ │ ├── get_camera_param.png │ │ │ ├── imu_pannel.png │ │ │ ├── info_button.png │ │ │ ├── ir_pannel.png │ │ │ ├── ir_profile_switch.png │ │ │ ├── language_button.png │ │ │ ├── logger.png │ │ │ ├── monitors.png │ │ │ ├── orbbec_sample_014.png │ │ │ ├── pause_button.png │ │ │ ├── play_button.png │ │ │ ├── pointcloud_button.png │ │ │ ├── record_playback.png │ │ │ ├── start_d2c_stream_button.png │ │ │ ├── stream_buttons.png │ │ │ ├── unfold.png │ │ │ └── upgrade.png │ └── English │ │ ├── OrbbecViewer.md │ │ └── images │ │ ├── OrbbecViewer.png │ │ ├── image1.png │ │ ├── image10.png │ │ ├── image11.png │ │ ├── image12.png │ │ ├── image13.png │ │ ├── image14.png │ │ ├── image15.png │ │ ├── image16.jpg │ │ ├── image16.png │ │ ├── image17.png │ │ ├── image18.png │ │ ├── image19.png │ │ ├── image2.png │ │ ├── image20.png │ │ ├── image21.png │ │ ├── image211.png │ │ ├── image22.png │ │ ├── image23.png │ │ ├── image24.png │ │ ├── image25.png │ │ ├── image26.png │ │ ├── image27.png │ │ ├── image28.png │ │ ├── image29.png │ │ ├── image3.png │ │ ├── image30.png │ │ ├── image31.png │ │ ├── image32.png │ │ ├── image33.png │ │ ├── image34.png │ │ ├── image35.png │ │ ├── image36.png │ │ ├── image4.png │ │ ├── image5.png │ │ ├── image6.png │ │ ├── image7.png │ │ ├── image8.png │ │ └── image9.png ├── api │ └── English │ │ ├── Context_8h.html │ │ ├── Context_8h_source.html │ │ ├── Context_8hpp.html │ │ ├── Context_8hpp_source.html │ │ ├── Device_8h.html │ │ ├── Device_8h_source.html │ │ ├── Device_8hpp.html │ │ ├── Device_8hpp_source.html │ │ ├── Error_8h.html │ │ ├── Error_8h_source.html │ │ ├── Error_8hpp.html │ │ ├── Error_8hpp_source.html │ │ ├── Filter_8h.html │ │ ├── Filter_8h_source.html │ │ ├── Filter_8hpp.html │ │ ├── Filter_8hpp_source.html │ │ ├── Frame_8h.html │ │ ├── Frame_8h_source.html │ │ ├── Frame_8hpp.html │ │ ├── Frame_8hpp_source.html │ │ ├── MultipleDevices_8h.html │ │ ├── MultipleDevices_8h_source.html │ │ ├── ObSensor_8h.html │ │ ├── ObSensor_8h_source.html │ │ ├── ObSensor_8hpp.html │ │ ├── ObSensor_8hpp_source.html │ │ ├── ObTypes_8h.html │ │ ├── ObTypes_8h_source.html │ │ ├── Pipeline_8h.html │ │ ├── Pipeline_8h_source.html │ │ ├── Pipeline_8hpp.html │ │ ├── Pipeline_8hpp_source.html │ │ ├── Property_8h.html │ │ ├── Property_8h_source.html │ │ ├── RecordPlayback_8h.html │ │ ├── RecordPlayback_8h_source.html │ │ ├── RecordPlayback_8hpp.html │ │ ├── RecordPlayback_8hpp_source.html │ │ ├── Sensor_8h.html │ │ ├── Sensor_8h_source.html │ │ ├── Sensor_8hpp.html │ │ ├── Sensor_8hpp_source.html │ │ ├── StreamProfile_8h.html │ │ ├── StreamProfile_8h_source.html │ │ ├── StreamProfile_8hpp.html │ │ ├── StreamProfile_8hpp_source.html │ │ ├── Types_8hpp.html │ │ ├── Types_8hpp_source.html │ │ ├── Utils_8h.html │ │ ├── Utils_8h_source.html │ │ ├── Utils_8hpp.html │ │ ├── Utils_8hpp_source.html │ │ ├── Version_8h.html │ │ ├── Version_8h_source.html │ │ ├── Version_8hpp.html │ │ ├── Version_8hpp_source.html │ │ ├── annotated.html │ │ ├── bc_s.png │ │ ├── bc_sd.png │ │ ├── classes.html │ │ ├── classob_1_1AccelFrame-members.html │ │ ├── classob_1_1AccelFrame.html │ │ ├── classob_1_1AccelFrame.png │ │ ├── classob_1_1AccelStreamProfile-members.html │ │ ├── classob_1_1AccelStreamProfile.html │ │ ├── classob_1_1AccelStreamProfile.png │ │ ├── classob_1_1Align-members.html │ │ ├── classob_1_1Align.html │ │ ├── classob_1_1Align.png │ │ ├── classob_1_1CameraParamList-members.html │ │ ├── classob_1_1CameraParamList.html │ │ ├── classob_1_1ColorFrame-members.html │ │ ├── classob_1_1ColorFrame.html │ │ ├── classob_1_1ColorFrame.png │ │ ├── classob_1_1CompressionFilter-members.html │ │ ├── classob_1_1CompressionFilter.html │ │ ├── classob_1_1CompressionFilter.png │ │ ├── classob_1_1Config-members.html │ │ ├── classob_1_1Config.html │ │ ├── classob_1_1Context-members.html │ │ ├── classob_1_1Context.html │ │ ├── classob_1_1CoordinateTransformHelper-members.html │ │ ├── classob_1_1CoordinateTransformHelper.html │ │ ├── classob_1_1DecimationFilter-members.html │ │ ├── classob_1_1DecimationFilter.html │ │ ├── classob_1_1DecimationFilter.png │ │ ├── classob_1_1DecompressionFilter-members.html │ │ ├── classob_1_1DecompressionFilter.html │ │ ├── classob_1_1DecompressionFilter.png │ │ ├── classob_1_1DepthFrame-members.html │ │ ├── classob_1_1DepthFrame.html │ │ ├── classob_1_1DepthFrame.png │ │ ├── classob_1_1Device-members.html │ │ ├── classob_1_1Device.html │ │ ├── classob_1_1DeviceInfo-members.html │ │ ├── classob_1_1DeviceInfo.html │ │ ├── classob_1_1DeviceList-members.html │ │ ├── classob_1_1DeviceList.html │ │ ├── classob_1_1DevicePresetList-members.html │ │ ├── classob_1_1DevicePresetList.html │ │ ├── classob_1_1DisparityTransform-members.html │ │ ├── classob_1_1DisparityTransform.html │ │ ├── classob_1_1DisparityTransform.png │ │ ├── classob_1_1EdgeNoiseRemovalFilter-members.html │ │ ├── classob_1_1EdgeNoiseRemovalFilter.html │ │ ├── classob_1_1EdgeNoiseRemovalFilter.png │ │ ├── classob_1_1Error-members.html │ │ ├── classob_1_1Error.html │ │ ├── classob_1_1Filter-members.html │ │ ├── classob_1_1Filter.html │ │ ├── classob_1_1Filter.png │ │ ├── classob_1_1FormatConvertFilter-members.html │ │ ├── classob_1_1FormatConvertFilter.html │ │ ├── classob_1_1FormatConvertFilter.png │ │ ├── classob_1_1Frame-members.html │ │ ├── classob_1_1Frame.html │ │ ├── classob_1_1Frame.png │ │ ├── classob_1_1FrameHelper-members.html │ │ ├── classob_1_1FrameHelper.html │ │ ├── classob_1_1FrameSet-members.html │ │ ├── classob_1_1FrameSet.html │ │ ├── classob_1_1FrameSet.png │ │ ├── classob_1_1GyroFrame-members.html │ │ ├── classob_1_1GyroFrame.html │ │ ├── classob_1_1GyroFrame.png │ │ ├── classob_1_1GyroStreamProfile-members.html │ │ ├── classob_1_1GyroStreamProfile.html │ │ ├── classob_1_1GyroStreamProfile.png │ │ ├── classob_1_1HdrMerge-members.html │ │ ├── classob_1_1HdrMerge.html │ │ ├── classob_1_1HdrMerge.png │ │ ├── classob_1_1HoleFillingFilter-members.html │ │ ├── classob_1_1HoleFillingFilter.html │ │ ├── classob_1_1HoleFillingFilter.png │ │ ├── classob_1_1IRFrame-members.html │ │ ├── classob_1_1IRFrame.html │ │ ├── classob_1_1IRFrame.png │ │ ├── classob_1_1NoiseRemovalFilter-members.html │ │ ├── classob_1_1NoiseRemovalFilter.html │ │ ├── classob_1_1NoiseRemovalFilter.png │ │ ├── classob_1_1OBDepthWorkModeList-members.html │ │ ├── classob_1_1OBDepthWorkModeList.html │ │ ├── classob_1_1OBFilterList-members.html │ │ ├── classob_1_1OBFilterList.html │ │ ├── classob_1_1Pipeline-members.html │ │ ├── classob_1_1Pipeline.html │ │ ├── classob_1_1Playback-members.html │ │ ├── classob_1_1Playback.html │ │ ├── classob_1_1PointCloudFilter-members.html │ │ ├── classob_1_1PointCloudFilter.html │ │ ├── classob_1_1PointCloudFilter.png │ │ ├── classob_1_1PointsFrame-members.html │ │ ├── classob_1_1PointsFrame.html │ │ ├── classob_1_1PointsFrame.png │ │ ├── classob_1_1RawPhaseFrame-members.html │ │ ├── classob_1_1RawPhaseFrame.html │ │ ├── classob_1_1RawPhaseFrame.png │ │ ├── classob_1_1Recorder-members.html │ │ ├── classob_1_1Recorder.html │ │ ├── classob_1_1Sensor-members.html │ │ ├── classob_1_1Sensor.html │ │ ├── classob_1_1SensorList-members.html │ │ ├── classob_1_1SensorList.html │ │ ├── classob_1_1SequenceIdFilter-members.html │ │ ├── classob_1_1SequenceIdFilter.html │ │ ├── classob_1_1SequenceIdFilter.png │ │ ├── classob_1_1SpatialAdvancedFilter-members.html │ │ ├── classob_1_1SpatialAdvancedFilter.html │ │ ├── classob_1_1SpatialAdvancedFilter.png │ │ ├── classob_1_1SpatialFastFilter-members.html │ │ ├── classob_1_1SpatialFastFilter.html │ │ ├── classob_1_1SpatialFastFilter.png │ │ ├── classob_1_1SpatialModerateFilter-members.html │ │ ├── classob_1_1SpatialModerateFilter.html │ │ ├── classob_1_1SpatialModerateFilter.png │ │ ├── classob_1_1StreamProfile-members.html │ │ ├── classob_1_1StreamProfile.html │ │ ├── classob_1_1StreamProfile.png │ │ ├── classob_1_1StreamProfileList-members.html │ │ ├── classob_1_1StreamProfileList.html │ │ ├── classob_1_1TemporalFilter-members.html │ │ ├── classob_1_1TemporalFilter.html │ │ ├── classob_1_1TemporalFilter.png │ │ ├── classob_1_1ThresholdFilter-members.html │ │ ├── classob_1_1ThresholdFilter.html │ │ ├── classob_1_1ThresholdFilter.png │ │ ├── classob_1_1Version-members.html │ │ ├── classob_1_1Version.html │ │ ├── classob_1_1VideoFrame-members.html │ │ ├── classob_1_1VideoFrame.html │ │ ├── classob_1_1VideoFrame.png │ │ ├── classob_1_1VideoStreamProfile-members.html │ │ ├── classob_1_1VideoStreamProfile.html │ │ ├── classob_1_1VideoStreamProfile.png │ │ ├── closed.png │ │ ├── deprecated.html │ │ ├── dir_551f50d4f6202563ca607f3aa0b67db1.html │ │ ├── dir_8195f5c0d9a800b311ff87242d342361.html │ │ ├── dir_9fda3634bd985c8b3aac4c1dd5078468.html │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ ├── doc.svg │ │ ├── docd.svg │ │ ├── doxygen.css │ │ ├── doxygen.svg │ │ ├── dynsections.js │ │ ├── files.html │ │ ├── folderclosed.svg │ │ ├── folderclosedd.svg │ │ ├── folderopen.svg │ │ ├── folderopend.svg │ │ ├── functions.html │ │ ├── functions_b.html │ │ ├── functions_c.html │ │ ├── functions_d.html │ │ ├── functions_e.html │ │ ├── functions_f.html │ │ ├── functions_func.html │ │ ├── functions_func_c.html │ │ ├── functions_func_d.html │ │ ├── functions_func_e.html │ │ ├── functions_func_f.html │ │ ├── functions_func_g.html │ │ ├── functions_func_h.html │ │ ├── functions_func_i.html │ │ ├── functions_func_l.html │ │ ├── functions_func_m.html │ │ ├── functions_func_n.html │ │ ├── functions_func_o.html │ │ ├── functions_func_p.html │ │ ├── functions_func_q.html │ │ ├── functions_func_r.html │ │ ├── functions_func_s.html │ │ ├── functions_func_t.html │ │ ├── functions_func_u.html │ │ ├── functions_func_v.html │ │ ├── functions_func_w.html │ │ ├── functions_func_~.html │ │ ├── functions_g.html │ │ ├── functions_h.html │ │ ├── functions_i.html │ │ ├── functions_k.html │ │ ├── functions_l.html │ │ ├── functions_m.html │ │ ├── functions_n.html │ │ ├── functions_o.html │ │ ├── functions_p.html │ │ ├── functions_q.html │ │ ├── functions_r.html │ │ ├── functions_rela.html │ │ ├── functions_s.html │ │ ├── functions_t.html │ │ ├── functions_type.html │ │ ├── functions_u.html │ │ ├── functions_v.html │ │ ├── functions_vars.html │ │ ├── functions_vars_b.html │ │ ├── functions_vars_c.html │ │ ├── functions_vars_d.html │ │ ├── functions_vars_e.html │ │ ├── functions_vars_f.html │ │ ├── functions_vars_g.html │ │ ├── functions_vars_h.html │ │ ├── functions_vars_i.html │ │ ├── functions_vars_k.html │ │ ├── functions_vars_l.html │ │ ├── functions_vars_m.html │ │ ├── functions_vars_n.html │ │ ├── functions_vars_o.html │ │ ├── functions_vars_p.html │ │ ├── functions_vars_r.html │ │ ├── functions_vars_s.html │ │ ├── functions_vars_t.html │ │ ├── functions_vars_u.html │ │ ├── functions_vars_w.html │ │ ├── functions_vars_x.html │ │ ├── functions_vars_y.html │ │ ├── functions_vars_z.html │ │ ├── functions_w.html │ │ ├── functions_x.html │ │ ├── functions_y.html │ │ ├── functions_z.html │ │ ├── functions_~.html │ │ ├── globals.html │ │ ├── globals_a.html │ │ ├── globals_d.html │ │ ├── globals_defs.html │ │ ├── globals_e.html │ │ ├── globals_enum.html │ │ ├── globals_eval.html │ │ ├── globals_eval_d.html │ │ ├── globals_eval_e.html │ │ ├── globals_eval_f.html │ │ ├── globals_eval_h.html │ │ ├── globals_eval_o.html │ │ ├── globals_eval_s.html │ │ ├── globals_eval_u.html │ │ ├── globals_f.html │ │ ├── globals_func.html │ │ ├── globals_func_t.html │ │ ├── globals_g.html │ │ ├── globals_h.html │ │ ├── globals_i.html │ │ ├── globals_o.html │ │ ├── globals_s.html │ │ ├── globals_t.html │ │ ├── globals_type.html │ │ ├── globals_u.html │ │ ├── hierarchy.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── menu.js │ │ ├── menudata.js │ │ ├── namespacemembers.html │ │ ├── namespacemembers_type.html │ │ ├── namespaceob.html │ │ ├── namespaces.html │ │ ├── nav_f.png │ │ ├── nav_fd.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── nav_hd.png │ │ ├── open.png │ │ ├── orbbec_icon.png │ │ ├── pages.html │ │ ├── search │ │ ├── all_0.js │ │ ├── all_1.js │ │ ├── all_10.js │ │ ├── all_11.js │ │ ├── all_12.js │ │ ├── all_13.js │ │ ├── all_14.js │ │ ├── all_15.js │ │ ├── all_16.js │ │ ├── all_17.js │ │ ├── all_18.js │ │ ├── all_19.js │ │ ├── all_1a.js │ │ ├── all_2.js │ │ ├── all_3.js │ │ ├── all_4.js │ │ ├── all_5.js │ │ ├── all_6.js │ │ ├── all_7.js │ │ ├── all_8.js │ │ ├── all_9.js │ │ ├── all_a.js │ │ ├── all_b.js │ │ ├── all_c.js │ │ ├── all_d.js │ │ ├── all_e.js │ │ ├── all_f.js │ │ ├── classes_0.js │ │ ├── classes_1.js │ │ ├── classes_2.js │ │ ├── classes_3.js │ │ ├── classes_4.js │ │ ├── classes_5.js │ │ ├── classes_6.js │ │ ├── classes_7.js │ │ ├── classes_8.js │ │ ├── classes_9.js │ │ ├── classes_a.js │ │ ├── classes_b.js │ │ ├── classes_c.js │ │ ├── classes_d.js │ │ ├── classes_e.js │ │ ├── classes_f.js │ │ ├── close.svg │ │ ├── defines_0.js │ │ ├── defines_1.js │ │ ├── defines_2.js │ │ ├── defines_3.js │ │ ├── defines_4.js │ │ ├── defines_5.js │ │ ├── defines_6.js │ │ ├── enums_0.js │ │ ├── enums_1.js │ │ ├── enumvalues_0.js │ │ ├── enumvalues_1.js │ │ ├── enumvalues_2.js │ │ ├── enumvalues_3.js │ │ ├── enumvalues_4.js │ │ ├── enumvalues_5.js │ │ ├── enumvalues_6.js │ │ ├── enumvalues_7.js │ │ ├── files_0.js │ │ ├── files_1.js │ │ ├── files_2.js │ │ ├── files_3.js │ │ ├── files_4.js │ │ ├── files_5.js │ │ ├── files_6.js │ │ ├── files_7.js │ │ ├── files_8.js │ │ ├── files_9.js │ │ ├── files_a.js │ │ ├── files_b.js │ │ ├── functions_0.js │ │ ├── functions_1.js │ │ ├── functions_10.js │ │ ├── functions_11.js │ │ ├── functions_12.js │ │ ├── functions_13.js │ │ ├── functions_14.js │ │ ├── functions_2.js │ │ ├── functions_3.js │ │ ├── functions_4.js │ │ ├── functions_5.js │ │ ├── functions_6.js │ │ ├── functions_7.js │ │ ├── functions_8.js │ │ ├── functions_9.js │ │ ├── functions_a.js │ │ ├── functions_b.js │ │ ├── functions_c.js │ │ ├── functions_d.js │ │ ├── functions_e.js │ │ ├── functions_f.js │ │ ├── mag.svg │ │ ├── mag_d.svg │ │ ├── mag_sel.svg │ │ ├── mag_seld.svg │ │ ├── namespaces_0.js │ │ ├── pages_0.js │ │ ├── related_0.js │ │ ├── related_1.js │ │ ├── related_2.js │ │ ├── related_3.js │ │ ├── related_4.js │ │ ├── related_5.js │ │ ├── related_6.js │ │ ├── search.css │ │ ├── search.js │ │ ├── searchdata.js │ │ ├── typedefs_0.js │ │ ├── typedefs_1.js │ │ ├── typedefs_2.js │ │ ├── typedefs_3.js │ │ ├── typedefs_4.js │ │ ├── typedefs_5.js │ │ ├── typedefs_6.js │ │ ├── typedefs_7.js │ │ ├── typedefs_8.js │ │ ├── typedefs_9.js │ │ ├── variables_0.js │ │ ├── variables_1.js │ │ ├── variables_10.js │ │ ├── variables_11.js │ │ ├── variables_12.js │ │ ├── variables_13.js │ │ ├── variables_14.js │ │ ├── variables_15.js │ │ ├── variables_16.js │ │ ├── variables_2.js │ │ ├── variables_3.js │ │ ├── variables_4.js │ │ ├── variables_5.js │ │ ├── variables_6.js │ │ ├── variables_7.js │ │ ├── variables_8.js │ │ ├── variables_9.js │ │ ├── variables_a.js │ │ ├── variables_b.js │ │ ├── variables_c.js │ │ ├── variables_d.js │ │ ├── variables_e.js │ │ └── variables_f.js │ │ ├── splitbar.png │ │ ├── splitbard.png │ │ ├── structAE__ROI-members.html │ │ ├── structAE__ROI.html │ │ ├── structBASELINE__CALIBRATION__PARAM-members.html │ │ ├── structBASELINE__CALIBRATION__PARAM.html │ │ ├── structDISP__OFFSET__CONFIG-members.html │ │ ├── structDISP__OFFSET__CONFIG.html │ │ ├── structHDR__CONFIG-members.html │ │ ├── structHDR__CONFIG.html │ │ ├── structOBAccelIntrinsic-members.html │ │ ├── structOBAccelIntrinsic.html │ │ ├── structOBAccelValue-members.html │ │ ├── structOBAccelValue.html │ │ ├── structOBBoolPropertyRange-members.html │ │ ├── structOBBoolPropertyRange.html │ │ ├── structOBCalibrationParam-members.html │ │ ├── structOBCalibrationParam.html │ │ ├── structOBCameraAlignIntrinsic-members.html │ │ ├── structOBCameraAlignIntrinsic.html │ │ ├── structOBCameraDistortion-members.html │ │ ├── structOBCameraDistortion.html │ │ ├── structOBCameraIntrinsic-members.html │ │ ├── structOBCameraIntrinsic.html │ │ ├── structOBCameraParam-members.html │ │ ├── structOBCameraParam.html │ │ ├── structOBCameraParam__V0-members.html │ │ ├── structOBCameraParam__V0.html │ │ ├── structOBColorPoint-members.html │ │ ├── structOBColorPoint.html │ │ ├── structOBCompressionParams-members.html │ │ ├── structOBCompressionParams.html │ │ ├── structOBD2CTransform-members.html │ │ ├── structOBD2CTransform.html │ │ ├── structOBDataBundle-members.html │ │ ├── structOBDataBundle.html │ │ ├── structOBDataChunk-members.html │ │ ├── structOBDataChunk.html │ │ ├── structOBDepthWorkMode-members.html │ │ ├── structOBDepthWorkMode.html │ │ ├── structOBDeviceSyncConfig-members.html │ │ ├── structOBDeviceSyncConfig.html │ │ ├── structOBDeviceTemperature-members.html │ │ ├── structOBDeviceTemperature.html │ │ ├── structOBEdgeNoiseRemovalFilterParams-members.html │ │ ├── structOBEdgeNoiseRemovalFilterParams.html │ │ ├── structOBFloatPropertyRange-members.html │ │ ├── structOBFloatPropertyRange.html │ │ ├── structOBGyroIntrinsic-members.html │ │ ├── structOBGyroIntrinsic.html │ │ ├── structOBIntPropertyRange-members.html │ │ ├── structOBIntPropertyRange.html │ │ ├── structOBMGCFilterConfig-members.html │ │ ├── structOBMGCFilterConfig.html │ │ ├── structOBNetIpConfig-members.html │ │ ├── structOBNetIpConfig.html │ │ ├── structOBNoiseRemovalFilterParams-members.html │ │ ├── structOBNoiseRemovalFilterParams.html │ │ ├── structOBPoint-members.html │ │ ├── structOBPoint.html │ │ ├── structOBPoint2f-members.html │ │ ├── structOBPoint2f.html │ │ ├── structOBPropertyItem-members.html │ │ ├── structOBPropertyItem.html │ │ ├── structOBProtocolVersion-members.html │ │ ├── structOBProtocolVersion.html │ │ ├── structOBRect-members.html │ │ ├── structOBRect.html │ │ ├── structOBSequenceIdItem-members.html │ │ ├── structOBSequenceIdItem.html │ │ ├── structOBSpatialAdvancedFilterParams-members.html │ │ ├── structOBSpatialAdvancedFilterParams.html │ │ ├── structOBSpatialFastFilterParams-members.html │ │ ├── structOBSpatialFastFilterParams.html │ │ ├── structOBSpatialModerateFilterParams-members.html │ │ ├── structOBSpatialModerateFilterParams.html │ │ ├── structOBTofExposureThresholdControl-members.html │ │ ├── structOBTofExposureThresholdControl.html │ │ ├── structOBUint16PropertyRange-members.html │ │ ├── structOBUint16PropertyRange.html │ │ ├── structOBUint8PropertyRange-members.html │ │ ├── structOBUint8PropertyRange.html │ │ ├── structOBXYTables-members.html │ │ ├── structOBXYTables.html │ │ ├── structob__device__timestamp__reset__config-members.html │ │ ├── structob__device__timestamp__reset__config.html │ │ ├── structob__error-members.html │ │ ├── structob__error.html │ │ ├── structob__margin__filter__config-members.html │ │ ├── structob__margin__filter__config.html │ │ ├── structob__multi__device__sync__config-members.html │ │ ├── structob__multi__device__sync__config.html │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_ad.png │ │ ├── tab_b.png │ │ ├── tab_bd.png │ │ ├── tab_h.png │ │ ├── tab_hd.png │ │ ├── tab_s.png │ │ ├── tab_sd.png │ │ └── tabs.css ├── resources │ ├── MultiStream.png │ ├── OrbbecViewer.png │ ├── sdk_licensediagram.png │ └── sdk_licenseiagram_future.png └── tutorial │ ├── Chinese │ ├── Environment_Configuration.md │ ├── Image │ │ ├── Linux_Install_1.png │ │ ├── Linux_Install_2.png │ │ ├── Linux_Install_3.png │ │ ├── Linux_Install_4.png │ │ ├── Linux_Install_5.png │ │ ├── OrbbecSDK-Architecture.png │ │ ├── OrbbecSDK-Get-Frame-Sequence-Diagram.png │ │ ├── orbbec_driver_000.png │ │ ├── orbbec_metadata.png │ │ ├── orbbec_opencv_001.png │ │ ├── orbbec_opencv_002.png │ │ ├── orbbec_opencv_003.png │ │ ├── orbbec_sample_005.png │ │ ├── orbbec_sample_006.png │ │ ├── orbbec_sample_007.png │ │ ├── orbbec_sample_008.png │ │ ├── orbbec_sample_009.png │ │ ├── orbbec_sample_010.png │ │ ├── orbbec_sample_013.png │ │ ├── orbbec_sample_014.png │ │ ├── orbbec_sample_linux_001.png │ │ ├── orbbec_sample_linux_002.png │ │ ├── orbbec_sample_linux_003.png │ │ ├── windows_install_1.png │ │ ├── windows_install_2.png │ │ ├── windows_install_3.png │ │ ├── windows_install_4.png │ │ ├── windows_install_5.png │ │ └── windows_install_6.png │ ├── Installation_guidance.md │ ├── OrbbecSDK_C++_API_user_guide-v1.0.pdf │ └── OverviewDocument.md │ └── English │ ├── Environment_Configuration.md │ ├── Image │ ├── Linux_Install_1.png │ ├── Linux_Install_2.png │ ├── Linux_Install_3.png │ ├── Linux_Install_4.png │ ├── Linux_Install_5.png │ ├── OrbbecSDK-Architecture.png │ ├── OrbbecSDK-Get-Frame-Sequence-Diagram.png │ ├── orbbec_driver_000.png │ ├── orbbec_metadata.png │ ├── orbbec_opencv_001.png │ ├── orbbec_opencv_002.png │ ├── orbbec_opencv_003.png │ ├── orbbec_sample_005.png │ ├── orbbec_sample_006.png │ ├── orbbec_sample_007.png │ ├── orbbec_sample_008.png │ ├── orbbec_sample_009.png │ ├── orbbec_sample_010.png │ ├── orbbec_sample_011.png │ ├── orbbec_sample_013.png │ ├── orbbec_sample_014.png │ ├── orbbec_sample_linux_001.png │ ├── orbbec_sample_linux_002.png │ ├── orbbec_sample_linux_003.png │ ├── windows_install_1.png │ ├── windows_install_2.png │ ├── windows_install_3.png │ ├── windows_install_4.png │ ├── windows_install_5.png │ └── windows_install_6.png │ ├── Installation_guidance.md │ ├── OrbbecSDK_C++_API_user_guide-v1.0.pdf │ └── OverviewDocument.md ├── examples ├── CMakeLists.txt ├── README.md ├── README_CN.md ├── c │ ├── CMakeLists.txt │ ├── Sample-AlignFilterViewer │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── alignFilter_viewer.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── align_filter_viewer.cpp │ ├── Sample-ColorViewer │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── color_viewer.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── color_viewer.cpp │ ├── Sample-DepthViewer │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── depth_viewer.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── depth_viewer.cpp │ ├── Sample-DepthWorkMode │ │ ├── CMakeLists.txt │ │ └── depth_work_mode.cpp │ ├── Sample-DoubleInfraredViewer │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── double_infrared_viewer.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── double_infrared_viewer.cpp │ ├── Sample-FirmwareUpgrade │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── firmware_upgrade.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── firmware_upgrade.cpp │ ├── Sample-HdrMerge │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── hdr_merge_viewer.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── hdr_merge.cpp │ ├── Sample-HelloOrbbec │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── hello_orbbec.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── hello_orbbec.c │ ├── Sample-HotPlugin │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── README_CN.md │ │ └── hot_plugin.cpp │ ├── Sample-InfraredViewer │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── infrared_viewer.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── infrared_viewer.cpp │ ├── Sample-NetDevice │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── README_CN.md │ │ └── net_device.cpp │ ├── Sample-PointCloud │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── point_cloud.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── point_cloud.c │ ├── Sample-Post-Processing │ │ ├── CMakeLists.txt │ │ ├── Image │ │ │ └── post_processing.png │ │ ├── README.md │ │ ├── README_CN.md │ │ └── post_processing.cpp │ ├── Sample-SensorControl │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── README_CN.md │ │ └── sensor_control.c │ ├── utils.hpp │ └── window.hpp └── cpp │ ├── CMakeLists.txt │ ├── Sample-AlignFilterViewer │ ├── AlignFilterViewer.cpp │ ├── CMakeLists.txt │ ├── Image │ │ └── alignFilter_viewer.png │ ├── README.md │ └── README_CN.md │ ├── Sample-ColorViewer │ ├── CMakeLists.txt │ ├── ColorViewer.cpp │ ├── Image │ │ └── ColorViewer.png │ ├── README.md │ └── README_CN.md │ ├── Sample-CommonUsages │ ├── CMakeLists.txt │ ├── CommonUsages.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-DepthUnitControl │ ├── CMakeLists.txt │ ├── DepthUnitControl.cpp │ ├── Image │ │ └── DepthUnitControl.png │ ├── README.md │ └── README_CN.md │ ├── Sample-DepthViewer │ ├── CMakeLists.txt │ ├── DepthViewer.cpp │ ├── Image │ │ └── DepthViewer.png │ ├── README.md │ └── README_CN.md │ ├── Sample-DepthWorkMode │ ├── CMakeLists.txt │ ├── DepthWorkMode.cpp │ ├── Image │ │ └── DepthWorkMode.png │ ├── README.md │ └── README_CN.md │ ├── Sample-DoubleInfraredViewer │ ├── CMakeLists.txt │ ├── DoubleInfraredViewer.cpp │ ├── Image │ │ └── double_infrared_viewer.png │ ├── README.md │ └── README_CN.md │ ├── Sample-FirmwareUpgrade │ ├── CMakeLists.txt │ ├── FirmwareUpgrade.cpp │ ├── Image │ │ └── FirmwareUpgrade.png │ ├── README.md │ └── README_CN.md │ ├── Sample-HdrMerge │ ├── CMakeLists.txt │ ├── HdrMerge.cpp │ ├── Image │ │ └── HdrMerge.png │ ├── README.md │ └── README_CN.md │ ├── Sample-HelloOrbbec │ ├── CMakeLists.txt │ ├── HelloOrbbec.cpp │ ├── Image │ │ └── HelloOrbbec.png │ ├── README.md │ └── README_CN.md │ ├── Sample-HotPlugin │ ├── CMakeLists.txt │ ├── HotPlugin.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-ImuReader │ ├── CMakeLists.txt │ ├── Image │ │ └── ImuReader.png │ ├── ImuReader.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-InfraredViewer │ ├── CMakeLists.txt │ ├── Image │ │ └── InfraredViewer.png │ ├── InfraredViewer.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-MultiDevice │ ├── CMakeLists.txt │ ├── Image │ │ └── MultiDevice.png │ ├── MultiDevice.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-MultiDeviceSync │ ├── CMakeLists.txt │ ├── MultiDeviceSync.cpp │ ├── MultiDeviceSyncConfig.json │ ├── MultiDeviceSync_CN.md │ ├── MultiDeviceSync_EN.md │ ├── README.md │ ├── README_CN.md │ ├── cJSON.c │ └── cJSON.h │ ├── Sample-MultiStream │ ├── CMakeLists.txt │ ├── Image │ │ └── MultiStream.png │ ├── MultiStream.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-NetDevice │ ├── CMakeLists.txt │ ├── NetDevice.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-Playback │ ├── CMakeLists.txt │ ├── Image │ │ └── Playback.png │ ├── Playback.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-PointCloud │ ├── CMakeLists.txt │ ├── Image │ │ └── PointCloud.png │ ├── PointCloud.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-PostProcessing │ ├── CMakeLists.txt │ ├── Image │ │ └── post_processing.png │ ├── PostProcessing.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-QuickStart │ ├── CMakeLists.txt │ ├── QuickStart.cpp │ ├── README.md │ └── README_CN.md │ ├── Sample-Recorder │ ├── CMakeLists.txt │ ├── README.md │ ├── README_CN.md │ └── Recorder.cpp │ ├── Sample-SaveToDisk │ ├── CMakeLists.txt │ ├── README.md │ ├── README_CN.md │ └── SaveToDisk.cpp │ ├── Sample-SensorControl │ ├── CMakeLists.txt │ ├── Image │ │ └── SensorControl.png │ ├── README.md │ ├── README_CN.md │ └── SensorControl.cpp │ ├── Sample-SyncAlignViewer │ ├── CMakeLists.txt │ ├── Image │ │ └── SyncAlignViewer.png │ ├── README.md │ ├── README_CN.md │ └── SyncAlignViewer.cpp │ ├── Sample-Transformation │ ├── CMakeLists.txt │ ├── README.md │ ├── README_CN.md │ └── Transformation.cpp │ ├── utils.hpp │ └── window.hpp ├── include └── libobsensor │ ├── ObSensor.h │ ├── ObSensor.hpp │ ├── h │ ├── Context.h │ ├── Device.h │ ├── Error.h │ ├── Filter.h │ ├── Frame.h │ ├── MultipleDevices.h │ ├── ObTypes.h │ ├── Pipeline.h │ ├── Property.h │ ├── RecordPlayback.h │ ├── Sensor.h │ ├── StreamProfile.h │ ├── Utils.h │ └── Version.h │ └── hpp │ ├── Context.hpp │ ├── Device.hpp │ ├── Error.hpp │ ├── Filter.hpp │ ├── Frame.hpp │ ├── Pipeline.hpp │ ├── RecordPlayback.hpp │ ├── Sensor.hpp │ ├── StreamProfile.hpp │ ├── Types.hpp │ ├── Utils.hpp │ └── Version.hpp ├── lib ├── README.md ├── arm32 │ ├── libOrbbecSDK.so │ ├── libOrbbecSDK.so.1.10 │ ├── libOrbbecSDK.so.1.10.22 │ ├── liblive555.so │ └── libob_usb.so ├── arm64 │ ├── libOrbbecSDK.so │ ├── libOrbbecSDK.so.1.10 │ ├── libOrbbecSDK.so.1.10.22 │ ├── libdepthengine.so │ ├── libdepthengine.so.2.0 │ ├── liblive555.so │ └── libob_usb.so ├── linux_x64 │ ├── libOrbbecSDK.so │ ├── libOrbbecSDK.so.1.10 │ ├── libOrbbecSDK.so.1.10.22 │ ├── libdepthengine.so │ ├── libdepthengine.so.2.0 │ ├── liblive555.so │ └── libob_usb.so ├── win_x64 │ ├── OrbbecSDK.dll │ ├── OrbbecSDK.lib │ ├── depthengine_2_0.dll │ ├── live555.dll │ ├── live555.lib │ ├── ob_usb.dll │ └── ob_usb.lib └── win_x86 │ ├── OrbbecSDK.dll │ ├── OrbbecSDK.lib │ ├── depthengine_2_0.dll │ ├── live555.dll │ ├── live555.lib │ ├── ob_usb.dll │ └── ob_usb.lib ├── misc ├── config │ ├── OrbbecSDKConfig_v1.0.md │ ├── OrbbecSDKConfig_v1.0.xml │ └── OrbbecSDKConfig_v1.0_CN.md ├── driver │ ├── README.md │ ├── SensorDriver_V4.3.0.22.exe │ └── license └── scripts │ ├── 99-obsensor-libusb.rules │ ├── WindowsMetaDataHelper │ ├── CMakeLists.txt │ ├── Image │ │ └── metadata.png │ ├── Windows-UVC-Metadata-Register.md │ ├── Windows-UVC-Metadata-Register_CN.md │ ├── main.cpp │ ├── metadata-helper.cpp │ └── metadata-helper.h │ ├── install_udev_rules.sh │ ├── obsensor_metadata_win10.md │ └── obsensor_metadata_win10.ps1 └── package.xml /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug report 3 | about: Create a report to help us improve 4 | title: '' 5 | labels: '' 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Describe the bug** 11 | A clear and concise description of what the bug is. 12 | 13 | **Reproduction Steps** 14 | Steps to reproduce the behavior: 15 | 16 | **Expected behavior** 17 | A clear and concise description of what you expected to happen. 18 | 19 | **Log Output** 20 | Include relevant log entries or error messages that are related to the problem.You can attach log files if they are too large. 21 | 22 | **System Environment:** 23 | 24 | - OS: Name and version (e.g., Windows 10, Ubuntu 20.04). 25 | - Architecture: x86_64, armv7, etc. 26 | - Visual Studio/GCC：Version A.B.C 27 | 28 | **Tool/SDK Version:** 29 | 30 | - SDK: Version A.B.C 31 | - OrbbecViewer：: Version A.B.C 32 | 33 | **Device Information:** 34 | 35 | - Model: Device model name. 36 | - Firmware Version: Firmware revision number. 37 | 38 | **Additional context** 39 | Add any other context about the problem here. 40 | -------------------------------------------------------------------------------- /.github/workflows/c-cpp.yml: -------------------------------------------------------------------------------- 1 | name: C/C++ CI 2 | 3 | on: 4 | push: 5 | branches: [ "1.6.x" ] 6 | pull_request: 7 | branches: [ "1.6.x" ] 8 | 9 | jobs: 10 | build: 11 | 12 | runs-on: ubuntu-latest 13 | 14 | steps: 15 | - uses: actions/checkout@v3 16 | - name: cmake 17 | run: mkdir build && cd build && cmake .. 18 | - name: make 19 | run: cd build && make 20 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # cmake build directory 2 | build 3 | 4 | # cpack output 5 | packages 6 | 7 | # IDE files 8 | .vscode 9 | .idea 10 | cmake-build-debug/ 11 | -------------------------------------------------------------------------------- /OrbbecSDK.pc.in: -------------------------------------------------------------------------------- 1 | prefix=@CMAKE_INSTALL_PREFIX@ 2 | exec_prefix=${prefix} 3 | libdir=${prefix}/lib 4 | includedir=${prefix}/include 5 | 6 | Name: OrbbecSDK 7 | Description: OrbbecSDK is a comprehensive library that provides developers with intuitive interfaces to control and manipulate Orbbec cameras seamlessly. 8 | Version: @PROJECT_VERSION@ 9 | Libs: -L${libdir} -lOrbbecSDK 10 | Cflags: -I${includedir} 11 | -------------------------------------------------------------------------------- /cmake/DetermineHostPlatform.cmake: -------------------------------------------------------------------------------- 1 | set(HOST_PLATFORM "linux_x64") 2 | if(APPLE) 3 | set(HOST_PLATFORM "macOS") 4 | elseif (UNIX) 5 | execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES) 6 | execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT) 7 | if ((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64")) 8 | set(HOST_PLATFORM "linux_x64") 9 | elseif (${MACHINES} MATCHES "arm") 10 | set(HOST_PLATFORM "arm32") 11 | elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64")) 12 | set(HOST_PLATFORM "arm64") 13 | elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "32")) 14 | set(HOST_PLATFORM "arm32") 15 | endif () 16 | elseif (WIN32) 17 | if (CMAKE_SIZEOF_VOID_P EQUAL 8) 18 | set(HOST_PLATFORM "win_x64") 19 | elseif (CMAKE_SIZEOF_VOID_P EQUAL 4) 20 | set(HOST_PLATFORM "win_x86") 21 | endif () 22 | endif () 23 | -------------------------------------------------------------------------------- /cmake/OrbbecSDKConfig.cmake.in: -------------------------------------------------------------------------------- 1 | @PACKAGE_INIT@ 2 | 3 | # Note: targets are specified in the namespaces they were exported from. 4 | 5 | set(OrbbecSDK_LIBS_DIR ${CMAKE_CURRENT_LIST_DIR}) 6 | find_library(OrbbecSDK_LIBRARY NAMES OrbbecSDK PATHS ${OrbbecSDK_LIBS_DIR}) 7 | set(OrbbecSDK_INCLUDE_DIRS ${CMAKE_CURRENT_LIST_DIR}/../include/) 8 | set(OrbbecSDK_LIBS ${OrbbecSDK_LIBRARY}) 9 | 10 | check_required_components(OrbbecSDK) 11 | -------------------------------------------------------------------------------- /cmake/UninstallTarget.cmake: -------------------------------------------------------------------------------- 1 | if (NOT TARGET uninstall) 2 | configure_file( 3 | "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in" 4 | "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" 5 | IMMEDIATE @ONLY) 6 | add_custom_target(uninstall COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake) 7 | endif () 8 | -------------------------------------------------------------------------------- /cmake/cmake_uninstall.cmake.in: -------------------------------------------------------------------------------- 1 | if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") 2 | message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") 3 | endif() 4 | 5 | file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files) 6 | string(REGEX REPLACE "\n" ";" files "${files}") 7 | foreach(file ${files}) 8 | message(STATUS "Uninstalling: $ENV{DESTDIR}${file}") 9 | if(EXISTS "$ENV{DESTDIR}${file}") 10 | execute_process( 11 | COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}" 12 | OUTPUT_VARIABLE rm_out 13 | RESULT_VARIABLE rm_retval 14 | ) 15 | if(NOT ${rm_retval} EQUAL 0) 16 | message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}") 17 | endif() 18 | else() 19 | message(STATUS "File $ENV{DESTDIR}${file} does not exist.") 20 | endif() 21 | endforeach() 22 | -------------------------------------------------------------------------------- /doc/OrbbecViewer/Chinese/images/32.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/doc/OrbbecViewer/Chinese/images/32.png -------------------------------------------------------------------------------- /doc/OrbbecViewer/Chinese/images/OrbbecViewer-2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/doc/OrbbecViewer/Chinese/images/OrbbecViewer-2.png -------------------------------------------------------------------------------- /doc/OrbbecViewer/Chinese/images/OrbbecViewer.png: 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-------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1.15) 2 | project(OrbbecSDK-Samples LANGUAGES CXX C) 3 | 4 | if(UNIX) 5 | set(CMAKE_CXX_FLAGS "-std=c++11 -pthread ${CMAKE_CXX_FLAGS}") 6 | endif() 7 | 8 | if(NOT DEFINED OrbbecSDK_FOUND) 9 | # set(OrbbecSDK_DIR "path/to/OrbbecSDK/lib" ) 10 | message(STATUS "OrbbecSDK_DIR: ${OrbbecSDK_DIR}") 11 | find_package(OrbbecSDK REQUIRED) 12 | endif() 13 | 14 | # find opencv 15 | # set(OpenCV_DIR "your/path/to/opencv/lib") 16 | find_package(OpenCV QUIET) 17 | 18 | if(UNIX) 19 | set(CMAKE_SKIP_BUILD_RPATH FALSE) 20 | set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) 21 | set(CMAKE_INSTALL_RPATH "$ORIGIN:$ORIGIN/../lib") 22 | set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) 23 | endif() 24 | 25 | add_subdirectory(c) 26 | add_subdirectory(cpp) 27 | 28 | install(DIRECTORY 29 | ${OrbbecSDK_LIBS_DIR}/ DESTINATION 30 | bin 31 | FILES_MATCHING PATTERN "*.so" 32 | PATTERN "*.so.*" 33 | PATTERN "*.dylib" 34 | PATTERN "*.*.dylib" 35 | PATTERN "*.dll" 36 | PATTERN ".lib" 37 | ) 38 | -------------------------------------------------------------------------------- /examples/c/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1.15) 2 | 3 | include_directories(${CMAKE_CURRENT_SOURCE_DIR}) 4 | 5 | add_subdirectory(Sample-HelloOrbbec) 6 | add_subdirectory(Sample-SensorControl) 7 | add_subdirectory(Sample-HotPlugin) 8 | add_subdirectory(Sample-DepthWorkMode) 9 | add_subdirectory(Sample-FirmwareUpgrade) 10 | 11 | # opencv required 12 | if(${OpenCV_FOUND}) 13 | add_subdirectory(Sample-ColorViewer) 14 | add_subdirectory(Sample-DepthViewer) 15 | add_subdirectory(Sample-InfraredViewer) 16 | add_subdirectory(Sample-AlignFilterViewer) 17 | add_subdirectory(Sample-HdrMerge) 18 | add_subdirectory(Sample-Post-Processing) 19 | add_subdirectory(Sample-DoubleInfraredViewer) 20 | add_subdirectory(Sample-PointCloud) 21 | add_subdirectory(Sample-NetDevice) 22 | endif(${OpenCV_FOUND}) -------------------------------------------------------------------------------- /examples/c/Sample-AlignFilterViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_align_filter) 5 | 6 | add_executable(${PROJECT_NAME} 7 | align_filter_viewer.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) -------------------------------------------------------------------------------- /examples/c/Sample-AlignFilterViewer/Image/alignFilter_viewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-AlignFilterViewer/Image/alignFilter_viewer.png -------------------------------------------------------------------------------- /examples/c/Sample-ColorViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_color_viewer) 5 | 6 | add_executable(${PROJECT_NAME} 7 | color_viewer.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | 15 | target_include_directories(${PROJECT_NAME} PUBLIC 16 | $ 17 | $ 18 | $ 19 | ${OpenCV_INCLUDE_DIRS} 20 | ${OrbbecSDK_INCLUDE_DIRS} 21 | ) 22 | 23 | install(TARGETS ${PROJECT_NAME} 24 | EXPORT ${PROJECT_NAME}Targets 25 | RUNTIME DESTINATION bin 26 | LIBRARY DESTINATION lib 27 | ARCHIVE DESTINATION lib 28 | ) 29 | -------------------------------------------------------------------------------- /examples/c/Sample-ColorViewer/Image/color_viewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-ColorViewer/Image/color_viewer.png -------------------------------------------------------------------------------- /examples/c/Sample-DepthViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_depth_viewer) 5 | 6 | add_executable(${PROJECT_NAME} 7 | depth_viewer.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | -------------------------------------------------------------------------------- /examples/c/Sample-DepthViewer/Image/depth_viewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-DepthViewer/Image/depth_viewer.png -------------------------------------------------------------------------------- /examples/c/Sample-DepthWorkMode/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_depth_work_mode) 5 | 6 | add_executable(${PROJECT_NAME} 7 | depth_work_mode.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/c/Sample-DoubleInfraredViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_double_infrared_viewer) 5 | 6 | add_executable(${PROJECT_NAME} 7 | double_infrared_viewer.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) -------------------------------------------------------------------------------- /examples/c/Sample-DoubleInfraredViewer/Image/double_infrared_viewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-DoubleInfraredViewer/Image/double_infrared_viewer.png -------------------------------------------------------------------------------- /examples/c/Sample-FirmwareUpgrade/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_firmware_upgrade) 5 | 6 | add_executable(${PROJECT_NAME} 7 | firmware_upgrade.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/c/Sample-FirmwareUpgrade/Image/firmware_upgrade.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-FirmwareUpgrade/Image/firmware_upgrade.png -------------------------------------------------------------------------------- /examples/c/Sample-HdrMerge/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_hdr_merge) 5 | 6 | add_executable(${PROJECT_NAME} 7 | hdr_merge.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) -------------------------------------------------------------------------------- /examples/c/Sample-HdrMerge/Image/hdr_merge_viewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-HdrMerge/Image/hdr_merge_viewer.png -------------------------------------------------------------------------------- /examples/c/Sample-HelloOrbbec/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_hello_orbbec) 5 | 6 | add_executable(${PROJECT_NAME} 7 | hello_orbbec.c 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | target_include_directories(${PROJECT_NAME} PUBLIC 14 | $ 15 | $ 16 | $ 17 | ${OrbbecSDK_INCLUDE_DIRS} 18 | ) 19 | 20 | install(TARGETS ${PROJECT_NAME} 21 | EXPORT ${PROJECT_NAME}Targets 22 | RUNTIME DESTINATION bin 23 | LIBRARY DESTINATION lib 24 | ARCHIVE DESTINATION lib 25 | ) 26 | -------------------------------------------------------------------------------- /examples/c/Sample-HelloOrbbec/Image/hello_orbbec.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-HelloOrbbec/Image/hello_orbbec.png -------------------------------------------------------------------------------- /examples/c/Sample-HotPlugin/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_hot_plugin) 5 | 6 | add_executable(${PROJECT_NAME} 7 | hot_plugin.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/c/Sample-InfraredViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_infrared_viewer) 5 | 6 | add_executable(${PROJECT_NAME} 7 | infrared_viewer.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | -------------------------------------------------------------------------------- /examples/c/Sample-InfraredViewer/Image/infrared_viewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-InfraredViewer/Image/infrared_viewer.png -------------------------------------------------------------------------------- /examples/c/Sample-NetDevice/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_net_device) 5 | 6 | add_executable(${PROJECT_NAME} 7 | net_device.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | 15 | target_include_directories(${PROJECT_NAME} PUBLIC 16 | $ 17 | $ 18 | $ 19 | ${OpenCV_INCLUDE_DIRS} 20 | ${OrbbecSDK_INCLUDE_DIRS} 21 | ) 22 | 23 | install(TARGETS ${PROJECT_NAME} 24 | EXPORT ${PROJECT_NAME}Targets 25 | RUNTIME DESTINATION bin 26 | LIBRARY DESTINATION lib 27 | ARCHIVE DESTINATION lib 28 | ) 29 | -------------------------------------------------------------------------------- /examples/c/Sample-NetDevice/README.md: -------------------------------------------------------------------------------- 1 | # C net_device sample 2 | Femto Mega and Gemini 2 XL support network functionality. Both devices support device discovery. As long as the PC and the device are on the same network, using the network functionality is the same as using USB, with no difference in the interface. 3 | 4 | This example demonstrates obtaining frame data over the network by connecting to the device via IP address and port number. 5 | 6 | **Notes:** 7 | 8 | 1. Femto Mega supports network DHCP, while Gemini 2 XL does not support DHCP. 9 | 2. First, use the Orbbec Viewer tool to view the device's IP address while connected via USB. Then, set the PC's IP address to be in the same network as the device, ensuring that you can ping the device successfully. -------------------------------------------------------------------------------- /examples/c/Sample-NetDevice/README_CN.md: -------------------------------------------------------------------------------- 1 | # net_device 示例 2 | Femto Mega 和 Gemini 2 XL 支持网络功能，这两个设备都支持设备发现，只要确保PC和设备在同一个网络，使用网络功能就像使用USB 一样，接口没有区别。 3 | 4 | 这个示例用来演示通过网络获取帧数据，通过IP地址和端口号连接设备。 5 | 6 | **注意事项：** 7 | 8 | 1、Femto Mega 支持网络DHCP, Gemini 2 XL 不支持DHCP。 9 | 2、首先通过Orbbec Viewer工具，在USB连接下，可以查看设备的IP地址，然后将PC 的IP 设置和 设备同一个网络内，确保能ping通。 -------------------------------------------------------------------------------- /examples/c/Sample-PointCloud/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_point_cloud) 5 | 6 | add_executable(${PROJECT_NAME} 7 | point_cloud.c 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/c/Sample-PointCloud/Image/point_cloud.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-PointCloud/Image/point_cloud.png -------------------------------------------------------------------------------- /examples/c/Sample-Post-Processing/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_post_processing) 5 | 6 | add_executable(${PROJECT_NAME} 7 | post_processing.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) -------------------------------------------------------------------------------- /examples/c/Sample-Post-Processing/Image/post_processing.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/c/Sample-Post-Processing/Image/post_processing.png -------------------------------------------------------------------------------- /examples/c/Sample-SensorControl/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(ob_sensor_control) 5 | 6 | add_executable(${PROJECT_NAME} 7 | sensor_control.c 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/c/Sample-SensorControl/README.md: -------------------------------------------------------------------------------- 1 | # C sensor control 2 | 3 | Function description: Demonstrate Device control operations 4 | -------------------------------------------------------------------------------- /examples/c/Sample-SensorControl/README_CN.md: -------------------------------------------------------------------------------- 1 | # 传感器控制示例 2 | 3 | 功能描述：本示例演示了对device控制命令的操作、对Sensor控制命令的操作、对Sensor进行流操作。 -------------------------------------------------------------------------------- /examples/c/utils.hpp: -------------------------------------------------------------------------------- 1 | #if defined(__linux__) || defined(__APPLE__) 2 | #ifdef __linux__ 3 | #include 4 | #else 5 | #include 6 | #endif 7 | #include 8 | #include 9 | #include 10 | #include 11 | 12 | #define gets_s gets 13 | 14 | int getch(void) { 15 | struct termios tm, tm_old; 16 | int fd = 0, ch; 17 | 18 | if(tcgetattr(fd, &tm) < 0) { // Save the current terminal settings 19 | return -1; 20 | } 21 | 22 | tm_old = tm; 23 | cfmakeraw(&tm); // Change the terminal settings to raw mode, in which all input data is processed in bytes 24 | if(tcsetattr(fd, TCSANOW, &tm) < 0) { // Settings after changes on settings 25 | return -1; 26 | } 27 | 28 | ch = getchar(); 29 | if(tcsetattr(fd, TCSANOW, &tm_old) < 0) { // Change the settings to what they were originally 30 | return -1; 31 | } 32 | 33 | return ch; 34 | } 35 | 36 | int kbhit(void) { 37 | struct termios oldt, newt; 38 | int ch; 39 | int oldf; 40 | tcgetattr(STDIN_FILENO, &oldt); 41 | newt = oldt; 42 | newt.c_lflag &= ~(ICANON | ECHO); 43 | tcsetattr(STDIN_FILENO, TCSANOW, &newt); 44 | oldf = fcntl(STDIN_FILENO, F_GETFL, 0); 45 | fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK); 46 | ch = getchar(); 47 | tcsetattr(STDIN_FILENO, TCSANOW, &oldt); 48 | fcntl(STDIN_FILENO, F_SETFL, oldf); 49 | if(ch != EOF) { 50 | ungetc(ch, stdin); 51 | return 1; 52 | } 53 | return 0; 54 | } 55 | #else 56 | #include 57 | #endif -------------------------------------------------------------------------------- /examples/cpp/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1.15) 2 | 3 | include_directories(${CMAKE_CURRENT_SOURCE_DIR}) 4 | 5 | add_subdirectory(Sample-DepthWorkMode) 6 | 7 | add_subdirectory(Sample-FirmwareUpgrade) 8 | add_subdirectory(Sample-HelloOrbbec) 9 | add_subdirectory(Sample-HotPlugin) 10 | add_subdirectory(Sample-ImuReader) 11 | add_subdirectory(Sample-SensorControl) 12 | add_subdirectory(Sample-Transformation) 13 | add_subdirectory(Sample-QuickStart) 14 | 15 | # opencv required 16 | if(${OpenCV_FOUND}) 17 | add_subdirectory(Sample-ColorViewer) 18 | add_subdirectory(Sample-DepthViewer) 19 | add_subdirectory(Sample-InfraredViewer) 20 | add_subdirectory(Sample-DoubleInfraredViewer) 21 | add_subdirectory(Sample-SyncAlignViewer) 22 | add_subdirectory(Sample-AlignFilterViewer) 23 | add_subdirectory(Sample-HdrMerge) 24 | add_subdirectory(Sample-PostProcessing) 25 | add_subdirectory(Sample-PointCloud) 26 | add_subdirectory(Sample-MultiDevice) 27 | # add_subdirectory(Sample-MultiDeviceSyncOld) 28 | add_subdirectory(Sample-MultiDeviceSync) 29 | add_subdirectory(Sample-MultiStream) 30 | add_subdirectory(Sample-NetDevice) 31 | add_subdirectory(Sample-SaveToDisk) 32 | add_subdirectory(Sample-DepthUnitControl) 33 | add_subdirectory(Sample-CommonUsages) 34 | if(NOT APPLE) 35 | add_subdirectory(Sample-Recorder) 36 | add_subdirectory(Sample-Playback) 37 | endif() 38 | endif(${OpenCV_FOUND}) 39 | 40 | -------------------------------------------------------------------------------- /examples/cpp/Sample-AlignFilterViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBAlignFilter) 4 | 5 | add_executable(${PROJECT_NAME} 6 | AlignFilterViewer.cpp 7 | ) 8 | 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) -------------------------------------------------------------------------------- /examples/cpp/Sample-AlignFilterViewer/Image/alignFilter_viewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-AlignFilterViewer/Image/alignFilter_viewer.png -------------------------------------------------------------------------------- /examples/cpp/Sample-ColorViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBColorViewer) 5 | 6 | add_executable(${PROJECT_NAME} 7 | ColorViewer.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OpenCV_LIBS} 12 | ${OrbbecSDK_LIBS} 13 | ) 14 | 15 | target_include_directories(${PROJECT_NAME} PUBLIC 16 | $ 17 | $ 18 | $ 19 | ${OpenCV_INCLUDE_DIRS} 20 | ${OrbbecSDK_INCLUDE_DIRS} 21 | ) 22 | 23 | install(TARGETS ${PROJECT_NAME} 24 | EXPORT ${PROJECT_NAME}Targets 25 | RUNTIME DESTINATION bin 26 | LIBRARY DESTINATION lib 27 | ARCHIVE DESTINATION lib 28 | ) 29 | -------------------------------------------------------------------------------- /examples/cpp/Sample-ColorViewer/Image/ColorViewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-ColorViewer/Image/ColorViewer.png -------------------------------------------------------------------------------- /examples/cpp/Sample-CommonUsages/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBCommonUsages) 5 | 6 | add_executable(${PROJECT_NAME} 7 | CommonUsages.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OpenCV_LIBS} 12 | ${OrbbecSDK_LIBS} 13 | ) 14 | 15 | target_include_directories(${PROJECT_NAME} PUBLIC 16 | $ 17 | $ 18 | $ 19 | ${OpenCV_INCLUDE_DIRS} 20 | ${OrbbecSDK_INCLUDE_DIRS} 21 | ) 22 | 23 | install(TARGETS ${PROJECT_NAME} 24 | EXPORT ${PROJECT_NAME}Targets 25 | RUNTIME DESTINATION bin 26 | LIBRARY DESTINATION lib 27 | ARCHIVE DESTINATION lib 28 | ) 29 | -------------------------------------------------------------------------------- /examples/cpp/Sample-CommonUsages/README.md: -------------------------------------------------------------------------------- 1 | # C++ CommonUsages sample 2 | 3 | This example demonstrates obtaining video streams and common parameter settings. -------------------------------------------------------------------------------- /examples/cpp/Sample-CommonUsages/README_CN.md: -------------------------------------------------------------------------------- 1 | # C++ CommonUsages 示例 2 | 3 | 该示例演示获取视频流和常用的参数设置。 -------------------------------------------------------------------------------- /examples/cpp/Sample-DepthUnitControl/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBDepthUnitControl) 4 | 5 | add_executable(${PROJECT_NAME} 6 | DepthUnitControl.cpp 7 | ) 8 | 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | 29 | -------------------------------------------------------------------------------- /examples/cpp/Sample-DepthUnitControl/Image/DepthUnitControl.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-DepthUnitControl/Image/DepthUnitControl.png -------------------------------------------------------------------------------- /examples/cpp/Sample-DepthViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBDepthViewer) 4 | 5 | add_executable(${PROJECT_NAME} 6 | DepthViewer.cpp 7 | ) 8 | 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | -------------------------------------------------------------------------------- /examples/cpp/Sample-DepthViewer/Image/DepthViewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-DepthViewer/Image/DepthViewer.png -------------------------------------------------------------------------------- /examples/cpp/Sample-DepthViewer/README.md: -------------------------------------------------------------------------------- 1 | # C++ Sample Depth Stream Viewer 2 | 3 | Function description: This example mainly demonstrates the use of SDK to get depth data and draw display, and exit the program through the ESC_KEY key 4 | 5 | This example is based on the C++ High Level API for demonstration 6 | 7 | ## 1. Firstly, create a pipeline, through which multiple types of streams can be easily opened and closed, and a set of frame data can be obtained 8 | ```cpp 9 | ob::Pipeline pipe; 10 | ``` 11 | 12 | ## 2. By creating config to configure which streams to enable 13 | ```cpp 14 | // By creating config to configure which streams to enable or disable for the pipeline, here the depth stream will be enabled 15 | std::shared_ptr config = std::make_shared(); 16 | config->enableVideoStream(OB_STREAM_DEPTH); 17 | ``` 18 | 19 | ## 3. Start Pipeline 20 | ```cpp 21 | pipe.start(config); 22 | ``` 23 | 24 | ## 4. Obtain Depth frame data 25 | Wait for a frame of data in a blocking manner which is a composite frame containing frame data for all streams enabled in the configuration, and set the waiting timeout time for the frame 26 | ```cpp 27 | auto frameSet = pipe.waitForFrames(100); //Set the waiting time to 100ms 28 | ``` 29 | 30 | ## 5. Stop Pipeline, no more frame data will be generated 31 | ```cpp 32 | pipe.stop(); 33 | ``` 34 | ## 6. expected Output 35 | 36 | ![image](Image/DepthViewer.png) -------------------------------------------------------------------------------- /examples/cpp/Sample-DepthViewer/README_CN.md: -------------------------------------------------------------------------------- 1 | # DepthViewer 示例 2 | 3 | 功能描述：此示例主要演示使用SDK获取深度数据并进行绘制显示，并通过ESC_KEY键退出程序。 4 | 5 | 此示例基于C++高级API进行演示。 6 | 7 | ## 1. 创建一个Pipeline，通过Pipeline可以打开和关闭多种类型的数据流，并获取一组帧数据 8 | ```cpp 9 | ob::Pipeline pipe; 10 | ``` 11 | 12 | ## 2. 通过创建配置来配置要启用哪些数据流 13 | ```cpp 14 | // By creating config to configure which streams to enable or disable for the pipeline, here the depth stream will be enabled 15 | std::shared_ptr config = std::make_shared(); 16 | config->enableVideoStream(OB_STREAM_DEPTH); 17 | ``` 18 | 19 | ## 3. 开启pipeline 20 | ```cpp 21 | pipe.start(config); 22 | ``` 23 | 24 | ## 4. 获取Depth帧数据 25 | 以阻塞方式等待一帧数据，该帧数据是一个复合帧，包含了配置中启用的所有数据流的帧数据，并设置等待超时时间 26 | ```cpp 27 | auto frameSet = pipe.waitForFrames(100); //Set the waiting time to 100ms 28 | ``` 29 | 30 | ## 5. 停止Pipeline，不再生成帧数据 31 | ```cpp 32 | pipe.stop(); 33 | ``` 34 | ## 6. expected Output 35 | 36 | ![image](Image/DepthViewer.png) -------------------------------------------------------------------------------- /examples/cpp/Sample-DepthWorkMode/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBDepthWorkMode) 5 | 6 | add_executable(${PROJECT_NAME} 7 | DepthWorkMode.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | target_include_directories(${PROJECT_NAME} PUBLIC 14 | $ 15 | $ 16 | $ 17 | ${OrbbecSDK_INCLUDE_DIRS} 18 | ) 19 | 20 | install(TARGETS ${PROJECT_NAME} 21 | EXPORT ${PROJECT_NAME}Targets 22 | RUNTIME DESTINATION bin 23 | LIBRARY DESTINATION lib 24 | ARCHIVE DESTINATION lib 25 | ) 26 | -------------------------------------------------------------------------------- /examples/cpp/Sample-DepthWorkMode/Image/DepthWorkMode.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-DepthWorkMode/Image/DepthWorkMode.png -------------------------------------------------------------------------------- /examples/cpp/Sample-DoubleInfraredViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBDoubleInfraredViewer) 5 | 6 | add_executable(${PROJECT_NAME} 7 | DoubleInfraredViewer.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OpenCV_LIBS} 12 | ${OrbbecSDK_LIBS} 13 | ) 14 | 15 | target_include_directories(${PROJECT_NAME} PUBLIC 16 | $ 17 | $ 18 | $ 19 | ${OpenCV_INCLUDE_DIRS} 20 | ${OrbbecSDK_INCLUDE_DIRS} 21 | ) 22 | 23 | install(TARGETS ${PROJECT_NAME} 24 | EXPORT ${PROJECT_NAME}Targets 25 | RUNTIME DESTINATION bin 26 | LIBRARY DESTINATION lib 27 | ARCHIVE DESTINATION lib 28 | ) 29 | -------------------------------------------------------------------------------- /examples/cpp/Sample-DoubleInfraredViewer/Image/double_infrared_viewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-DoubleInfraredViewer/Image/double_infrared_viewer.png -------------------------------------------------------------------------------- /examples/cpp/Sample-FirmwareUpgrade/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBFirmwareUpgrade) 5 | 6 | add_executable(${PROJECT_NAME} 7 | FirmwareUpgrade.cpp 8 | ) 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | target_include_directories(${PROJECT_NAME} PUBLIC 14 | $ 15 | $ 16 | $ 17 | ${OrbbecSDK_INCLUDE_DIRS} 18 | ) 19 | 20 | install(TARGETS ${PROJECT_NAME} 21 | EXPORT ${PROJECT_NAME}Targets 22 | RUNTIME DESTINATION bin 23 | LIBRARY DESTINATION lib 24 | ARCHIVE DESTINATION lib 25 | ) 26 | -------------------------------------------------------------------------------- /examples/cpp/Sample-FirmwareUpgrade/Image/FirmwareUpgrade.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-FirmwareUpgrade/Image/FirmwareUpgrade.png -------------------------------------------------------------------------------- /examples/cpp/Sample-HdrMerge/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBHdrMerge) 4 | 5 | add_executable(${PROJECT_NAME} 6 | HdrMerge.cpp 7 | ) 8 | 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | 29 | -------------------------------------------------------------------------------- /examples/cpp/Sample-HdrMerge/Image/HdrMerge.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-HdrMerge/Image/HdrMerge.png -------------------------------------------------------------------------------- /examples/cpp/Sample-HelloOrbbec/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBHelloOrbbec) 5 | 6 | add_executable(${PROJECT_NAME} 7 | HelloOrbbec.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/cpp/Sample-HelloOrbbec/Image/HelloOrbbec.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-HelloOrbbec/Image/HelloOrbbec.png -------------------------------------------------------------------------------- /examples/cpp/Sample-HotPlugin/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBHotPlugin) 5 | 6 | add_executable(${PROJECT_NAME} 7 | HotPlugin.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | 28 | install(TARGETS ${PROJECT_NAME} 29 | EXPORT ${PROJECT_NAME}Targets 30 | RUNTIME DESTINATION bin 31 | LIBRARY DESTINATION lib 32 | ARCHIVE DESTINATION lib 33 | ) 34 | -------------------------------------------------------------------------------- /examples/cpp/Sample-ImuReader/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBOBImuReader) 5 | 6 | add_executable(${PROJECT_NAME} 7 | ImuReader.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/cpp/Sample-ImuReader/Image/ImuReader.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-ImuReader/Image/ImuReader.png -------------------------------------------------------------------------------- /examples/cpp/Sample-InfraredViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBInfraredViewer) 4 | 5 | add_executable(${PROJECT_NAME} 6 | InfraredViewer.cpp 7 | ) 8 | target_link_libraries(${PROJECT_NAME} 9 | ${OpenCV_LIBS} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | target_include_directories(${PROJECT_NAME} PUBLIC 14 | $ 15 | $ 16 | $ 17 | ${OpenCV_INCLUDE_DIRS} 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/cpp/Sample-InfraredViewer/Image/InfraredViewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-InfraredViewer/Image/InfraredViewer.png -------------------------------------------------------------------------------- /examples/cpp/Sample-MultiDevice/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBMultiDevice) 4 | 5 | add_executable(${PROJECT_NAME} 6 | MultiDevice.cpp 7 | ) 8 | 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | -------------------------------------------------------------------------------- /examples/cpp/Sample-MultiDevice/Image/MultiDevice.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-MultiDevice/Image/MultiDevice.png -------------------------------------------------------------------------------- /examples/cpp/Sample-MultiDeviceSync/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBMultiDeviceSync) 5 | 6 | add_executable(${PROJECT_NAME} 7 | MultiDeviceSync.cpp 8 | cJSON.c 9 | cJSON.h 10 | ) 11 | 12 | target_link_libraries(${PROJECT_NAME} 13 | ${OpenCV_LIBS} 14 | ${OrbbecSDK_LIBS} 15 | ) 16 | 17 | target_include_directories(${PROJECT_NAME} PUBLIC 18 | $ 19 | $ 20 | $ 21 | ${OpenCV_INCLUDE_DIRS} 22 | ${OrbbecSDK_INCLUDE_DIRS} 23 | ) 24 | 25 | install(TARGETS ${PROJECT_NAME} 26 | EXPORT ${PROJECT_NAME}Targets 27 | RUNTIME DESTINATION bin 28 | LIBRARY DESTINATION lib 29 | ARCHIVE DESTINATION lib 30 | ) 31 | -------------------------------------------------------------------------------- /examples/cpp/Sample-MultiDeviceSync/MultiDeviceSyncConfig.json: -------------------------------------------------------------------------------- 1 | { 2 | "version": "1.0.0", 3 | "configTime": "2023/01/01", 4 | "devices": [ 5 | { 6 | "sn": "AY3JB200027", 7 | "syncConfig": { 8 | "syncMode": "OB_MULTI_DEVICE_SYNC_MODE_PRIMARY", 9 | "depthDelayUs": 0, 10 | "colorDelayUs": 0, 11 | "trigger2ImageDelayUs": 0, 12 | "triggerOutEnable": true, 13 | "triggerOutDelayUs": 0, 14 | "framesPerTrigger": 1 15 | } 16 | }, 17 | { 18 | "sn": "AY3JB20003C", 19 | "syncConfig": { 20 | "syncMode": "OB_MULTI_DEVICE_SYNC_MODE_SECONDARY", 21 | "depthDelayUs": 0, 22 | "colorDelayUs": 0, 23 | "trigger2ImageDelayUs": 0, 24 | "triggerOutEnable": true, 25 | "triggerOutDelayUs": 0, 26 | "framesPerTrigger": 1 27 | } 28 | } 29 | ] 30 | } -------------------------------------------------------------------------------- /examples/cpp/Sample-MultiStream/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBMultiStream) 4 | 5 | add_executable(${PROJECT_NAME} 6 | MultiStream.cpp 7 | ) 8 | target_link_libraries(${PROJECT_NAME} 9 | ${OpenCV_LIBS} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | target_include_directories(${PROJECT_NAME} PUBLIC 14 | $ 15 | $ 16 | $ 17 | ${OpenCV_INCLUDE_DIRS} 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/cpp/Sample-MultiStream/Image/MultiStream.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-MultiStream/Image/MultiStream.png -------------------------------------------------------------------------------- /examples/cpp/Sample-NetDevice/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBNetDevice) 4 | 5 | add_executable(${PROJECT_NAME} 6 | NetDevice.cpp 7 | ) 8 | target_link_libraries(${PROJECT_NAME} 9 | ${OpenCV_LIBS} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | target_include_directories(${PROJECT_NAME} PUBLIC 14 | $ 15 | $ 16 | $ 17 | ${OpenCV_INCLUDE_DIRS} 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/cpp/Sample-Playback/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBPlayback) 4 | 5 | add_executable(${PROJECT_NAME} 6 | Playback.cpp 7 | ) 8 | target_link_libraries(${PROJECT_NAME} 9 | ${OpenCV_LIBS} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | target_include_directories(${PROJECT_NAME} PUBLIC 14 | $ 15 | $ 16 | $ 17 | ${OpenCV_INCLUDE_DIRS} 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/cpp/Sample-Playback/Image/Playback.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-Playback/Image/Playback.png -------------------------------------------------------------------------------- /examples/cpp/Sample-PointCloud/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBPointCloud) 5 | 6 | add_executable(${PROJECT_NAME} 7 | PointCloud.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/cpp/Sample-PointCloud/Image/PointCloud.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-PointCloud/Image/PointCloud.png -------------------------------------------------------------------------------- /examples/cpp/Sample-PostProcessing/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBPostProcessing) 4 | 5 | add_executable(${PROJECT_NAME} 6 | PostProcessing.cpp 7 | ) 8 | 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | 29 | -------------------------------------------------------------------------------- /examples/cpp/Sample-PostProcessing/Image/post_processing.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-PostProcessing/Image/post_processing.png -------------------------------------------------------------------------------- /examples/cpp/Sample-QuickStart/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBQuickStart) 5 | 6 | add_executable(${PROJECT_NAME} QuickStart.cpp) 7 | 8 | target_link_libraries(${PROJECT_NAME} 9 | ${OrbbecSDK_LIBS} 10 | ) 11 | 12 | target_include_directories(${PROJECT_NAME} PUBLIC 13 | $ 14 | $ 15 | $ 16 | ${OrbbecSDK_INCLUDE_DIRS} 17 | ) 18 | 19 | install(TARGETS ${PROJECT_NAME} 20 | EXPORT ${PROJECT_NAME}Targets 21 | RUNTIME DESTINATION bin 22 | LIBRARY DESTINATION lib 23 | ARCHIVE DESTINATION lib 24 | ) 25 | 26 | install(TARGETS ${PROJECT_NAME} 27 | EXPORT ${PROJECT_NAME}Targets 28 | RUNTIME DESTINATION bin 29 | LIBRARY DESTINATION lib 30 | ARCHIVE DESTINATION lib 31 | ) 32 | 33 | 34 | -------------------------------------------------------------------------------- /examples/cpp/Sample-QuickStart/README.md: -------------------------------------------------------------------------------- 1 | # C++ Sample Quick Start 2 | This Quick Start Sample demonstrates using the minimum API to obtain data streams. 3 | 4 | ## 1. Create a pipeline with default device 5 | ```cpp 6 | ob::Pipeline pipe; 7 | ``` 8 | 9 | ## 2. Start the pipeline with default config，more info please refer to the `OrbbecSDKConfig_v1.0.xml`, by default only enables Depth and Color streams. By modifying the configuration file, you can enable the IR stream. 10 | ```cpp 11 | pipe.start(); 12 | ``` 13 | 14 | ## 3. get frame data 15 | ```cpp 16 | auto frameSet = pipe.waitForFrames(); 17 | auto colorFrame = frameSet->colorFrame(); 18 | auto depthFrame = frameSet->depthFrame(); 19 | ``` 20 | 21 | ## 4. Stop the Pipeline 22 | ```cpp 23 | 24 | // Stop the Pipeline, no frame data will be generated 25 | pipe.stop(); 26 | ``` -------------------------------------------------------------------------------- /examples/cpp/Sample-QuickStart/README_CN.md: -------------------------------------------------------------------------------- 1 | # C++快速开始示例 2 | 3 | 这个快速入门示例演示了使用最少的API来获取数据流。 4 | 5 | ## 1. 使用默认设备创建Pipeline 6 | ```cpp 7 | ob::Pipeline pipe; 8 | ``` 9 | 10 | ## 2. 使用默认配置开启Pipeline,更多信息请参阅 OrbbecSDKConfig_v1.0.xml。默认情况下仅启用深度和彩色流。通过修改配置文件，可以启用IR流。 11 | ```cpp 12 | pipe.start(); 13 | ``` 14 | 15 | ## 3. 获取帧数据 16 | ```cpp 17 | auto frameSet = pipe.waitForFrames(); 18 | auto colorFrame = frameSet->colorFrame(); 19 | auto depthFrame = frameSet->depthFrame(); 20 | ``` 21 | 22 | ## 4. 停止Pipeline 23 | ```cpp 24 | 25 | // Stop the Pipeline, no frame data will be generated 26 | pipe.stop(); 27 | ``` -------------------------------------------------------------------------------- /examples/cpp/Sample-Recorder/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBRecorder) 4 | 5 | add_executable(${PROJECT_NAME} 6 | Recorder.cpp 7 | ) 8 | target_link_libraries(${PROJECT_NAME} 9 | ${OpenCV_LIBS} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | -------------------------------------------------------------------------------- /examples/cpp/Sample-Recorder/README_CN.md: -------------------------------------------------------------------------------- 1 | # 录制示例-Recorder 2 | 3 | 功能描述：连接设备开流 , 录制当前视频流到文件，并通过ESC_KEY键退出程序 4 | 5 | 本示例基于C++ High Level API进行演示 6 | 7 | ## 1. 首先创建一个Pipeline，通过Pipeline可以很容易的打开和关闭多种类型的流并获取一组帧数据 8 | ```cpp 9 | ob::Pipeline pipe; 10 | ``` 11 | 12 | ## 2. 获取深度相机的流配置 13 | ``` 14 | depthProfile = std::const_pointer_cast(profiles->getProfile(OB_PROFILE_DEFAULT))->as(); 15 | ``` 16 | 17 | ## 3. 通过创建Config来配置Pipeline要启用或者禁用哪些流，这里将启用深度流 18 | ```cpp 19 | //配置Pipeline打开的流类型 20 | std::shared_ptr config = std::make_shared(); 21 | config->enableStream(depthProfile); 22 | ``` 23 | 24 | 启动在Config中配置的流，如果不传参数，将启动默认配置启动流，启动录制开关 25 | ```cpp 26 | pipe.start(config); 27 | pipe.startRecord("./OrbbecPipeline.bag"); 28 | ``` 29 | 以阻塞的方式等待一帧数据，该帧是一个复合帧，里面包含配置里启用的所有流的帧数据，并设置帧的等待超时时间 30 | ```cpp 31 | auto frameSet = pipe.waitForFrames(100); //设置等待时间为100ms 32 | ``` 33 | 34 | ## 4. 停止Pipeline，将不再产生帧数据 35 | ```cpp 36 | pipe.stop(); 37 | ``` 38 | 程序正常退出后会释放资源 -------------------------------------------------------------------------------- /examples/cpp/Sample-SaveToDisk/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBSaveToDisk) 4 | 5 | add_executable(${PROJECT_NAME} 6 | SaveToDisk.cpp 7 | ) 8 | target_link_libraries(${PROJECT_NAME} 9 | ${OpenCV_LIBS} 10 | ${OrbbecSDK_LIBS} 11 | ) 12 | 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | -------------------------------------------------------------------------------- /examples/cpp/Sample-SensorControl/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBSensorControl) 5 | 6 | add_executable(${PROJECT_NAME} 7 | SensorControl.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/cpp/Sample-SensorControl/Image/SensorControl.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-SensorControl/Image/SensorControl.png -------------------------------------------------------------------------------- /examples/cpp/Sample-SyncAlignViewer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | cmake_minimum_required(VERSION 3.1.15) 3 | project(OBSyncAlignViewer) 4 | 5 | add_executable(${PROJECT_NAME} 6 | SyncAlignViewer.cpp 7 | ) 8 | 9 | target_link_libraries(${PROJECT_NAME} 10 | ${OpenCV_LIBS} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OpenCV_INCLUDE_DIRS} 19 | ${OrbbecSDK_INCLUDE_DIRS} 20 | ) 21 | 22 | install(TARGETS ${PROJECT_NAME} 23 | EXPORT ${PROJECT_NAME}Targets 24 | RUNTIME DESTINATION bin 25 | LIBRARY DESTINATION lib 26 | ARCHIVE DESTINATION lib 27 | ) 28 | -------------------------------------------------------------------------------- /examples/cpp/Sample-SyncAlignViewer/Image/SyncAlignViewer.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/examples/cpp/Sample-SyncAlignViewer/Image/SyncAlignViewer.png -------------------------------------------------------------------------------- /examples/cpp/Sample-Transformation/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(OBTransformation) 5 | 6 | add_executable(${PROJECT_NAME} 7 | Transformation.cpp 8 | ) 9 | 10 | target_link_libraries(${PROJECT_NAME} 11 | ${OrbbecSDK_LIBS} 12 | ) 13 | 14 | target_include_directories(${PROJECT_NAME} PUBLIC 15 | $ 16 | $ 17 | $ 18 | ${OrbbecSDK_INCLUDE_DIRS} 19 | ) 20 | 21 | install(TARGETS ${PROJECT_NAME} 22 | EXPORT ${PROJECT_NAME}Targets 23 | RUNTIME DESTINATION bin 24 | LIBRARY DESTINATION lib 25 | ARCHIVE DESTINATION lib 26 | ) 27 | -------------------------------------------------------------------------------- /examples/cpp/Sample-Transformation/README.md: -------------------------------------------------------------------------------- 1 | # C++ Transformation sample 2 | This example uses a utility class to obtain undistorted point clouds,Demonstrate the 2D transformation between depth and color. 3 | 4 | ## 1. Invoking the utils class to generate an undistorted depth point cloud. 5 | ```cpp 6 | // Invoking the utils class to generate an undistorted depth point cloud. 7 | depthPointCloudTransformation(device, case_number); 8 | ``` 9 | 10 | ## 2. Invoking the utils class to generate an undistorted RGBD point cloud. 11 | ```cpp 12 | // Invoking the utils class to generate an undistorted RGBD point cloud. 13 | RGBPointCloudTransformation(device); 14 | ``` 15 | 16 | ## 3. Demonstrate Depth 2D converted to Color 2D 17 | ```cpp 18 | // Demonstrate Depth 2D converted to Color 2D 19 | depth2DToColor2DTransformation(device); 20 | ``` 21 | ## 4. Demonstrate Color 2D converted to Depth 2D 22 | ```cpp 23 | // Demonstrate Color 2D converted to Depth 2D 24 | color2DToDepth2DTransformation(device); 25 | ``` -------------------------------------------------------------------------------- /examples/cpp/Sample-Transformation/README_CN.md: -------------------------------------------------------------------------------- 1 | # C++ Transformation 示例 2 | 该示例使用工具类获取无畸变的点云，并演示深度和彩色之间的2D转换。 3 | 4 | ## 1. 调用工具类生成无畸变的深度点云 5 | ```cpp 6 | // Invoking the utils class to generate an undistorted depth point cloud. 7 | depthPointCloudTransformation(device, case_number); 8 | ``` 9 | 10 | ## 2. 调用工具类生成无畸变的RGBD点云 11 | ```cpp 12 | // Invoking the utils class to generate an undistorted RGBD point cloud. 13 | RGBPointCloudTransformation(device); 14 | ``` 15 | 16 | ## 3. 演示深度2D转换为彩色2D 17 | ```cpp 18 | // Demonstrate Depth 2D converted to Color 2D 19 | depth2DToColor2DTransformation(device); 20 | ``` 21 | ## 4. 演示彩色2D转换为深度2D 22 | ```cpp 23 | // Demonstrate Color 2D converted to Depth 2D 24 | color2DToDepth2DTransformation(device); 25 | ``` -------------------------------------------------------------------------------- /examples/cpp/utils.hpp: -------------------------------------------------------------------------------- 1 | #if defined(__linux__) || defined(__APPLE__) 2 | #ifdef __linux__ 3 | #include 4 | #else 5 | #include 6 | #endif 7 | #include 8 | #include 9 | #include 10 | #include 11 | 12 | #define gets_s gets 13 | 14 | int getch(void) { 15 | struct termios tm, tm_old; 16 | int fd = 0, ch; 17 | 18 | if(tcgetattr(fd, &tm) < 0) { // Save the current terminal settings 19 | return -1; 20 | } 21 | 22 | tm_old = tm; 23 | cfmakeraw(&tm); // Change the terminal settings to raw mode, in which all input data is processed in bytes 24 | if(tcsetattr(fd, TCSANOW, &tm) < 0) { // Settings after changes on settings 25 | return -1; 26 | } 27 | 28 | ch = getchar(); 29 | if(tcsetattr(fd, TCSANOW, &tm_old) < 0) { // Change the settings to what they were originally 30 | return -1; 31 | } 32 | 33 | return ch; 34 | } 35 | 36 | int kbhit(void) { 37 | struct termios oldt, newt; 38 | int ch; 39 | int oldf; 40 | tcgetattr(STDIN_FILENO, &oldt); 41 | newt = oldt; 42 | newt.c_lflag &= ~(ICANON | ECHO); 43 | tcsetattr(STDIN_FILENO, TCSANOW, &newt); 44 | oldf = fcntl(STDIN_FILENO, F_GETFL, 0); 45 | fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK); 46 | ch = getchar(); 47 | tcsetattr(STDIN_FILENO, TCSANOW, &oldt); 48 | fcntl(STDIN_FILENO, F_SETFL, oldf); 49 | if(ch != EOF) { 50 | ungetc(ch, stdin); 51 | return 1; 52 | } 53 | return 0; 54 | } 55 | #else 56 | #include 57 | #endif -------------------------------------------------------------------------------- /include/libobsensor/ObSensor.h: -------------------------------------------------------------------------------- 1 | /* License: Apache 2.0. See LICENSE file in root directory. 2 | Copyright(c) 2020 Orbbec Corporation. All Rights Reserved. */ 3 | 4 | /** 5 | * \file ObSensor.h 6 | * \brief This file serves as the C entrance for the OrbbecSDK library. 7 | * It includes all necessary header files for OrbbecSDK usage. 8 | */ 9 | #pragma once 10 | 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | #include 22 | #include 23 | -------------------------------------------------------------------------------- /include/libobsensor/ObSensor.hpp: -------------------------------------------------------------------------------- 1 | /* License: Apache 2.0. See LICENSE file in root directory. 2 | Copyright(c) 2020 Orbbec Corporation. All Rights Reserved. */ 3 | 4 | /** 5 | * \file ObSensor.hpp 6 | * \brief This is the main entry point for the OrbbecSDK C++ library. 7 | * It includes all necessary header files for using the library. 8 | */ 9 | #pragma once 10 | 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | #include 22 | -------------------------------------------------------------------------------- /include/libobsensor/h/Error.h: -------------------------------------------------------------------------------- 1 | /** 2 | * @file Error.h 3 | * @brief Functions for handling errors, mainly used for obtaining error messages. 4 | */ 5 | #pragma once 6 | 7 | #ifdef __cplusplus 8 | extern "C" { 9 | #endif 10 | 11 | #include "ObTypes.h" 12 | 13 | /** 14 | * @brief Get the error status. 15 | * 16 | * @param[in] error The error object. 17 | * @return The error status. 18 | */ 19 | ob_status ob_error_status(ob_error *error); 20 | 21 | /** 22 | * @brief Get the error message. 23 | * 24 | * @param[in] error The error object. 25 | * @return The error message. 26 | */ 27 | const char *ob_error_message(const ob_error *error); 28 | 29 | /** 30 | * @brief Get the name of the API function that caused the error. 31 | * 32 | * @param[in] error The error object. 33 | * @return The name of the API function. 34 | */ 35 | const char *ob_error_function(ob_error *error); 36 | 37 | /** 38 | * @brief Get the error parameters. 39 | * 40 | * @param[in] error The error object. 41 | * @return The error parameters. 42 | */ 43 | const char *ob_error_args(ob_error *error); 44 | 45 | /** 46 | * @brief Get the type of exception that caused the error. 47 | * 48 | * @param[in] error The error object. 49 | * @return The type of exception. 50 | */ 51 | ob_exception_type ob_error_exception_type(ob_error *error); 52 | 53 | /** 54 | * @brief Delete the error object. 55 | * 56 | * @param[in] error The error object to delete. 57 | */ 58 | void ob_delete_error(ob_error *error); 59 | 60 | #ifdef __cplusplus 61 | } 62 | #endif -------------------------------------------------------------------------------- /include/libobsensor/h/Version.h: -------------------------------------------------------------------------------- 1 | /** 2 | * @file Version.h 3 | * @brief Functions for retrieving the SDK version number information. 4 | * 5 | */ 6 | #pragma once 7 | 8 | #ifdef __cplusplus 9 | extern "C" { 10 | #endif 11 | 12 | /** 13 | * @brief Get the SDK version number. 14 | * 15 | * @return int The SDK version number. 16 | */ 17 | int ob_get_version(); 18 | 19 | /** 20 | * @brief Get the SDK major version number. 21 | * 22 | * @return int The SDK major version number. 23 | */ 24 | int ob_get_major_version(); 25 | 26 | /** 27 | * @brief Get the SDK minor version number. 28 | * 29 | * @return int The SDK minor version number. 30 | */ 31 | int ob_get_minor_version(); 32 | 33 | /** 34 | * @brief Get the SDK patch version number. 35 | * 36 | * @return int The SDK patch version number. 37 | */ 38 | int ob_get_patch_version(); 39 | 40 | /** 41 | * @brief Get the SDK stage version. 42 | * @attention The returned char* does not need to be freed. 43 | * 44 | * @return const char* The SDK stage version. 45 | */ 46 | const char *ob_get_stage_version(); 47 | 48 | #ifdef __cplusplus 49 | } 50 | #endif -------------------------------------------------------------------------------- /include/libobsensor/hpp/Error.hpp: -------------------------------------------------------------------------------- 1 | /** 2 | * @file Error.hpp 3 | * @brief This file defines the Error class, which describes abnormal errors within the SDK. 4 | * Detailed information about the exception can be obtained through this class. 5 | */ 6 | #pragma once 7 | 8 | #include "Types.hpp" 9 | #include 10 | 11 | struct ErrorImpl; 12 | 13 | namespace ob { 14 | class OB_EXTENSION_API Error { 15 | private: 16 | std::unique_ptr impl_; 17 | 18 | public: 19 | Error(std::unique_ptr impl) noexcept; 20 | 21 | Error(const Error &error) noexcept; 22 | 23 | ~Error() noexcept; 24 | 25 | /** 26 | * @brief Get the detailed error logs of SDK internal exceptions. 27 | * @return A C-style string containing the error message. 28 | */ 29 | const char *getMessage() const noexcept; 30 | 31 | /** 32 | * @brief Get the exception type of the error, which can be used to determine which module is abnormal. 33 | * @return The OBExceptionType enum value. 34 | */ 35 | OBExceptionType getExceptionType() const noexcept; 36 | 37 | /** 38 | * @brief Get the name of the error function. 39 | * @return A C-style string containing the name of the error function. 40 | */ 41 | const char *getName() const noexcept; 42 | 43 | /** 44 | * @brief Get the parameter passed to the error interface. 45 | * @return A C-style string containing the error interface parameter. 46 | */ 47 | const char *getArgs() const noexcept; 48 | }; 49 | } // namespace ob 50 | -------------------------------------------------------------------------------- /include/libobsensor/hpp/Version.hpp: -------------------------------------------------------------------------------- 1 | /** 2 | * @file Version.hpp 3 | * @brief Provides functions to retrieve version information of the SDK. 4 | */ 5 | #pragma once 6 | 7 | namespace ob { 8 | class OB_EXTENSION_API Version { 9 | public: 10 | /** 11 | * @brief Get the major version number of the SDK. 12 | * 13 | * @return int The major version number of the SDK. 14 | */ 15 | static int getMajor(); 16 | 17 | /** 18 | * @brief Get the minor version number of the SDK. 19 | * 20 | * @return int The minor version number of the SDK. 21 | */ 22 | static int getMinor(); 23 | 24 | /** 25 | * @brief Get the patch version number of the SDK. 26 | * 27 | * @return int The patch version number of the SDK. 28 | */ 29 | static int getPatch(); 30 | 31 | /** 32 | * @brief Get the full version number of the SDK. 33 | * 34 | * @return int The full version number of the SDK. 35 | */ 36 | static int getVersion(); 37 | 38 | /** 39 | * @brief Get the stage version of the SDK. 40 | * 41 | * @return char* The stage version string of the SDK. 42 | */ 43 | static char *getStageVersion(); 44 | }; 45 | } // namespace ob 46 | -------------------------------------------------------------------------------- /lib/README.md: -------------------------------------------------------------------------------- 1 | # Orbbec SDK library 2 | 3 | This Directory contains the Orbbec SDK library, depth engine and drivers files. Those files are close source now and will be open source in the near future. 4 | 5 | The license for those files can be found in the LICENSE file in the root directory of the Orbbec SDK repository. 6 | -------------------------------------------------------------------------------- /lib/arm32/libOrbbecSDK.so: -------------------------------------------------------------------------------- 1 | libOrbbecSDK.so.1.10 -------------------------------------------------------------------------------- /lib/arm32/libOrbbecSDK.so.1.10: -------------------------------------------------------------------------------- 1 | libOrbbecSDK.so.1.10.22 -------------------------------------------------------------------------------- /lib/arm32/libOrbbecSDK.so.1.10.22: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/lib/arm32/libOrbbecSDK.so.1.10.22 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-------------------------------------------------------------------------------- 1 | Copyright (c) 2023 OrbbecDeveloper 2 | 3 | Scope of License: This license grants, free of charge, to any person obtaining a copy of this repository or substantial portions of this repository, the right to use the files in this repository for ultilizing products from Orbbec Inc. 4 | You may apply this repository for personal, academic, and commercial use. The above copyright notice and this permission notice shall be included in all copies or substantial portions of the repository. 5 | Prohibited Actions: You are prohibited from modifying, decompiling, or reverse engineering any part of this library. You cannot use this library for products other than those of Orbbec. 6 | Reservation of Rights: The author reserves the right to modify this license at any time without prior notice. The author reserves all rights to this library. 7 | Disclaimer: This library is provided "as is," and the author assumes no responsibility for any direct, indirect, incidental, special, or consequential damages resulting from the use of this library. 8 | License Updates: If the author releases a new version of the license, you agree to comply with the new version after receiving notice. 9 | -------------------------------------------------------------------------------- /misc/scripts/WindowsMetaDataHelper/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # minimum required cmake version: 3.1.15 support vs2019 2 | 3 | cmake_minimum_required(VERSION 3.1.15) 4 | project(WindowsMetaDataHelper) 5 | 6 | add_executable(WindowsMetaDataHelper main.cpp metadata-helper.cpp) 7 | set_property(TARGET WindowsMetaDataHelper PROPERTY CXX_STANDARD 11) 8 | -------------------------------------------------------------------------------- /misc/scripts/WindowsMetaDataHelper/Image/metadata.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK/ee41e7f7077d63f69681283058b506551d7afce3/misc/scripts/WindowsMetaDataHelper/Image/metadata.png -------------------------------------------------------------------------------- /misc/scripts/WindowsMetaDataHelper/Windows-UVC-Metadata-Register.md: -------------------------------------------------------------------------------- 1 | # Windows UVC Metadata Register 2 | Since devices must be registered using the obsensor_metadata_win10.ps1 script, users need to run this script every time a new device is connected. This process can be cumbersome and easy to forget, leading to the inability to obtain Metadata. 3 | 4 | The purpose of this code is to demonstrate how to register Metadata on Windows programmatically. 5 | 6 | **This sample only supports the Windows platform.** 7 | 8 | 9 | ## Background 10 | 11 | To obtain UVC custom metadata windows the platform, you need to add special fields to the device entries in the registry. The relevant information is as follows: 12 | https://learn.microsoft.com/en-us/windows-hardware/drivers/stream/uvc-extensions-1-5 13 | 14 | ![image](image/metadata.png) 15 | 16 | ## Solution 17 | 18 | The entries of Orbbec's device in the registry are fixed. Traverse all entries in this path, find the pid and vid that match the current device, and add corresponding fields to the successfully matched entries to obtain UVC custom metadata. 19 | ```cpp 20 | "SYSTEM\CurrentControlSet\Control\DeviceClasses\e5323777-f976-4f5b-9b55-b94699c46e44" 21 | 22 | "SYSTEM\CurrentControlSet\Control\DeviceClasses\65E8773D-8F56-11D0-A3B9-00A0C9223196" 23 | ``` 24 | 25 | -------------------------------------------------------------------------------- /misc/scripts/WindowsMetaDataHelper/Windows-UVC-Metadata-Register_CN.md: -------------------------------------------------------------------------------- 1 | # Windows UVC Metadata Register 2 | 3 | 由于设备必须使用 `obsensor_metadata_win10.ps1` 脚本进行注册，用户需要每次连接新设备时运行此脚本。这个过程可能会很繁琐，也容易忘记，导致无法获取到Metadata。 4 | 5 | 这段代码的目的是演示如何在 Windows 平台上通过编程方式注册Metadata。 6 | 7 | **这个示例只支持 Windows 平台** 8 | ## 背景 9 | 10 | 要在 Windows 平台上获取 UVC 自定义元数据，需要向注册表中的设备条目添加特殊字段。相关信息如下： 11 | https://learn.microsoft.com/en-us/windows-hardware/drivers/stream/uvc-extensions-1-5 12 | 13 | ![image](image/metadata.png) 14 | 15 | ## 解决方案 16 | 17 | Orbbec 设备在注册表中的条目是固定的。遍历此路径中的所有条目，找到与当前设备匹配的 pid 和 vid，并将相应的字段添加到成功匹配的条目中，以获取 UVC 自定义元数据。 18 | ```cpp 19 | "SYSTEM\CurrentControlSet\Control\DeviceClasses\e5323777-f976-4f5b-9b55-b94699c46e44" 20 | 21 | "SYSTEM\CurrentControlSet\Control\DeviceClasses\65E8773D-8F56-11D0-A3B9-00A0C9223196" 22 | ``` -------------------------------------------------------------------------------- /misc/scripts/WindowsMetaDataHelper/main.cpp: -------------------------------------------------------------------------------- 1 | #include "metadata-helper.h" 2 | #include "iostream" 3 | 4 | /**** 5 | * Notes: 6 | * 1. The code must be run with administrator privileges, and the PID and VID passed into the code must be in decimal format. 7 | * 2. If multiple different types of device(different PID) are used, the registration code must be called for the PID of each device. 8 | */ 9 | int main(void) { 10 | std::string pid = "1643"; 11 | std::string vid = "11205"; 12 | if(windows_metadata_helper::is_running_as_admin()) { 13 | windows_metadata_helper::is_enabled(pid, vid); 14 | windows_metadata_helper::enable_metadata(pid, vid); 15 | std::cout << "register metadata success" << std::endl; 16 | } 17 | return 0; 18 | } -------------------------------------------------------------------------------- /misc/scripts/WindowsMetaDataHelper/metadata-helper.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | // Helper class that is responsible for enabling per-frame metadata on different platforms 6 | // Currently implemented for Windows 7 | class windows_metadata_helper { 8 | public: 9 | static bool is_enabled(std::string pid, std::string vid); 10 | 11 | static bool is_running_as_admin(); 12 | 13 | static void enable_metadata(std::string pid, std::string vid); 14 | }; -------------------------------------------------------------------------------- /misc/scripts/install_udev_rules.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # Check if user is root/running with sudo 4 | if [ `whoami` != root ]; then 5 | echo Please run this script with sudo 6 | exit 7 | fi 8 | 9 | ORIG_PATH=`pwd` 10 | cd `dirname $0` 11 | SCRIPT_PATH=`pwd` 12 | cd $ORIG_PATH 13 | 14 | if [ "`uname -s`" != "Darwin" ]; then 15 | # Install udev rules for USB device 16 | cp ${SCRIPT_PATH}/99-obsensor-libusb.rules /etc/udev/rules.d/99-obsensor-libusb.rules 17 | 18 | # resload udev rules 19 | udevadm control --reload && udevadm trigger 20 | 21 | echo "usb rules file install at /etc/udev/rules.d/99-obsensor-libusb.rules" 22 | fi 23 | echo "exit" -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | OrbbecSDK 4 | 1.10.18 5 | 6 | OrbbecSDK is a comprehensive library that provides developers with intuitive interfaces to control and 7 | manipulate Orbbec cameras seamlessly. 8 | 9 | Orbbec Developer 10 | MIT 11 | ros_environment 12 | catkin 13 | ament_cmake 14 | pkg-config 15 | libusb-1.0-dev 16 | libudev-dev 17 | udev 18 | 19 | 20 | catkin 21 | ament_cmake 22 | 23 | 24 | --------------------------------------------------------------------------------