452 lines
17 KiB
C++
452 lines
17 KiB
C++
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// Copyright (c) Orbbec Inc. All Rights Reserved.
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// Licensed under the MIT License.
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/**
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* @file Pipeline.hpp
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* @brief The SDK's advanced API type can quickly implement switching streaming and frame synchronization
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* operations.
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*/
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#pragma once
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#include "Frame.hpp"
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#include "Device.hpp"
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#include "StreamProfile.hpp"
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#include "libobsensor/h/Pipeline.h"
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#include "libobsensor/hpp/Types.hpp"
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#include "libobsensor/hpp/TypeHelper.hpp"
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#include <memory>
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#include <functional>
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namespace ob {
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/**
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* @brief Config class for configuring pipeline parameters
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*
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* The Config class provides an interface for configuring pipeline parameters.
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*/
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class Config {
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private:
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ob_config_t *impl_;
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public:
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/**
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* @brief Construct a new Config object
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*/
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Config() {
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ob_error *error = nullptr;
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impl_ = ob_create_config(&error);
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Error::handle(&error);
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}
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explicit Config(ob_config_t *impl) : impl_(impl) {}
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/**
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* @brief Destroy the Config object
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*/
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~Config() noexcept {
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ob_error *error = nullptr;
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ob_delete_config(impl_, &error);
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Error::handle(&error, false);
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}
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ob_config_t *getImpl() const {
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return impl_;
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}
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/**
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* @brief enable a stream with a specific stream type
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*
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* @param streamType The stream type to be enabled
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*/
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void enableStream(OBStreamType streamType) const {
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ob_error *error = nullptr;
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ob_config_enable_stream(impl_, streamType, &error);
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Error::handle(&error);
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}
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/**
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* @brief Enable a stream with a specific sensor type
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* @brief Will convert sensor type to stream type automatically.
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*
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* @param sensorType The sensor type to be enabled
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*/
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void enableStream(OBSensorType sensorType) const {
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auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
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enableStream(streamType);
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}
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/**
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* @brief Enable a stream to be used in the pipeline
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*
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* @param streamProfile The stream configuration to be enabled
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*/
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void enableStream(std::shared_ptr<const StreamProfile> streamProfile) const {
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ob_error *error = nullptr;
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auto c_stream_profile = streamProfile->getImpl();
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ob_config_enable_stream_with_stream_profile(impl_, c_stream_profile, &error);
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Error::handle(&error);
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}
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/**
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* @brief Enable a video stream to be used in the pipeline.
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*
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* This function allows users to enable a video stream with customizable parameters.
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* If no parameters are specified, the stream will be enabled with default resolution settings.
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* Users who wish to set custom resolutions should refer to the product manual, as available resolutions vary by camera model.
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*
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* @param streamType The video stream type.
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* @param width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
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* @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
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* @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
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* @param format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
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*/
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void enableVideoStream(OBStreamType streamType, uint32_t width = OB_WIDTH_ANY, uint32_t height = OB_HEIGHT_ANY, uint32_t fps = OB_FPS_ANY,
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OBFormat format = OB_FORMAT_ANY) const {
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ob_error *error = nullptr;
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ob_config_enable_video_stream(impl_, streamType, width, height, fps, format, &error);
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Error::handle(&error);
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}
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/**
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* @brief Enable a video stream to be used in the pipeline.
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* @brief Will convert sensor type to stream type automatically.
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*
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* @param sensorType The sensor type to be enabled.
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* @param width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
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* @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
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* @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
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* @param format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
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*/
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void enableVideoStream(OBSensorType sensorType, uint32_t width = OB_WIDTH_ANY, uint32_t height = OB_HEIGHT_ANY, uint32_t fps = OB_FPS_ANY,
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OBFormat format = OB_FORMAT_ANY) const {
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auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
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enableVideoStream(streamType, width, height, fps, format);
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}
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/**
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* @brief Enable an accelerometer stream to be used in the pipeline.
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*
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* This function allows users to enable an accelerometer stream with customizable parameters.
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* If no parameters are specified, the stream will be enabled with default settings.
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* Users who wish to set custom full-scale ranges or sample rates should refer to the product manual, as available settings vary by device model.
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*
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* @param fullScaleRange The full-scale range of the accelerometer (default is OB_ACCEL_FULL_SCALE_RANGE_ANY, which selects the default range).
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* @param sampleRate The sample rate of the accelerometer (default is OB_ACCEL_SAMPLE_RATE_ANY, which selects the default rate).
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*/
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void enableAccelStream(OBAccelFullScaleRange fullScaleRange = OB_ACCEL_FULL_SCALE_RANGE_ANY,
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OBAccelSampleRate sampleRate = OB_ACCEL_SAMPLE_RATE_ANY) const {
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ob_error *error = nullptr;
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ob_config_enable_accel_stream(impl_, fullScaleRange, sampleRate, &error);
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Error::handle(&error);
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}
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/**
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* @brief Enable a gyroscope stream to be used in the pipeline.
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*
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* This function allows users to enable a gyroscope stream with customizable parameters.
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* If no parameters are specified, the stream will be enabled with default settings.
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* Users who wish to set custom full-scale ranges or sample rates should refer to the product manual, as available settings vary by device model.
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*
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* @param fullScaleRange The full-scale range of the gyroscope (default is OB_GYRO_FULL_SCALE_RANGE_ANY, which selects the default range).
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* @param sampleRate The sample rate of the gyroscope (default is OB_GYRO_SAMPLE_RATE_ANY, which selects the default rate).
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*/
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void enableGyroStream(OBGyroFullScaleRange fullScaleRange = OB_GYRO_FULL_SCALE_RANGE_ANY, OBGyroSampleRate sampleRate = OB_GYRO_SAMPLE_RATE_ANY) const {
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ob_error *error = nullptr;
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ob_config_enable_gyro_stream(impl_, fullScaleRange, sampleRate, &error);
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Error::handle(&error);
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}
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/**
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* @deprecated Use enableStream(std::shared_ptr<StreamProfile> streamProfile) instead
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* @brief Enable all streams to be used in the pipeline
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*/
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void enableAllStream() {
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ob_error *error = nullptr;
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ob_config_enable_all_stream(impl_, &error);
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Error::handle(&error);
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}
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/**
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* @brief Disable a stream to be used in the pipeline
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*
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* @param streamType The stream configuration to be disabled
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*/
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void disableStream(OBStreamType streamType) const {
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ob_error *error = nullptr;
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ob_config_disable_stream(impl_, streamType, &error);
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Error::handle(&error);
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}
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/**
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* @brief Disable a sensor stream to be used in the pipeline.
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* @brief Will convert sensor type to stream type automatically.
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*
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* @param sensorType The sensor configuration to be disabled
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*/
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void disableStream(OBSensorType sensorType) const {
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auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
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disableStream(streamType);
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}
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/**
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* @brief Disable all streams to be used in the pipeline
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*/
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void disableAllStream() const {
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ob_error *error = nullptr;
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ob_config_disable_all_stream(impl_, &error);
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Error::handle(&error);
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}
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/**
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* @brief Get the Enabled Stream Profile List
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*
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* @return std::shared_ptr<StreamProfileList>
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*/
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std::shared_ptr<StreamProfileList> getEnabledStreamProfileList() const {
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ob_error *error = nullptr;
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auto list = ob_config_get_enabled_stream_profile_list(impl_, &error);
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Error::handle(&error);
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return std::make_shared<StreamProfileList>(list);
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}
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/**
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* @brief Set the alignment mode
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*
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* @param mode The alignment mode
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*/
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void setAlignMode(OBAlignMode mode) const {
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ob_error *error = nullptr;
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ob_config_set_align_mode(impl_, mode, &error);
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Error::handle(&error);
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}
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/**
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* @brief Set whether the depth needs to be scaled after setting D2C
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*
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* @param enable Whether scaling is required
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*/
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void setDepthScaleRequire(bool enable) const {
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ob_error *error = nullptr;
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ob_config_set_depth_scale_after_align_require(impl_, enable, &error);
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Error::handle(&error);
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}
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/**
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* @brief Set the frame aggregation output mode for the pipeline configuration
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* @brief The processing strategy when the FrameSet generated by the frame aggregation function does not contain the frames of all opened streams (which
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* can be caused by different frame rates of each stream, or by the loss of frames of one stream): drop directly or output to the user.
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*
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* @param mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
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*/
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void setFrameAggregateOutputMode(OBFrameAggregateOutputMode mode) const {
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ob_error *error = nullptr;
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ob_config_set_frame_aggregate_output_mode(impl_, mode, &error);
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Error::handle(&error);
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}
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};
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class Pipeline {
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public:
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/**
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* @brief FrameSetCallback is a callback function type for frameset data arrival.
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*
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* @param frame The returned frameset data
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*/
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typedef std::function<void(std::shared_ptr<FrameSet> frame)> FrameSetCallback;
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private:
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ob_pipeline_t *impl_;
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FrameSetCallback callback_;
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public:
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/**
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* @brief Pipeline is a high-level interface for applications, algorithms related RGBD data streams. Pipeline can provide alignment inside and synchronized
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* FrameSet. Pipeline() no parameter version, which opens the first device in the list of devices connected to the OS by default. If the application has
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* obtained the device through the DeviceList, opening the Pipeline() at this time will throw an exception that the device has been created.
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*/
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Pipeline() {
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ob_error *error = nullptr;
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impl_ = ob_create_pipeline(&error);
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Error::handle(&error);
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}
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/**
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* @brief
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* Pipeline(std::shared_ptr< Device > device ) Function for multi-device operations. Multiple devices need to be obtained through DeviceList, and the device
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* and pipeline are bound through this interface.
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*/
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explicit Pipeline(std::shared_ptr<Device> device) {
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ob_error *error = nullptr;
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impl_ = ob_create_pipeline_with_device(device->getImpl(), &error);
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Error::handle(&error);
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}
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/**
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* @brief Destroy the pipeline object
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*/
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~Pipeline() noexcept {
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ob_error *error = nullptr;
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ob_delete_pipeline(impl_, &error);
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Error::handle(&error, false);
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}
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/**
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* @brief Start the pipeline with configuration parameters
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*
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* @param config The parameter configuration of the pipeline
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*/
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void start(std::shared_ptr<Config> config = nullptr) const {
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ob_error *error = nullptr;
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ob_config_t *config_impl = config == nullptr ? nullptr : config->getImpl();
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ob_pipeline_start_with_config(impl_, config_impl, &error);
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Error::handle(&error);
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}
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/**
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* @brief Start the pipeline and set the frameset data callback
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*
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* @param config The configuration of the pipeline
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* @param callback The callback to be triggered when all frame data in the frameset arrives
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*/
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void start(std::shared_ptr<Config> config, FrameSetCallback callback) {
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callback_ = callback;
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ob_error *error = nullptr;
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ob_pipeline_start_with_callback(impl_, config ? config->getImpl() : nullptr, &Pipeline::frameSetCallback, this, &error);
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Error::handle(&error);
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}
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static void frameSetCallback(ob_frame_t *frameSet, void *userData) {
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auto pipeline = static_cast<Pipeline *>(userData);
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pipeline->callback_(std::make_shared<FrameSet>(frameSet));
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}
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/**
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* @brief Stop the pipeline
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*/
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void stop() const {
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ob_error *error = nullptr;
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ob_pipeline_stop(impl_, &error);
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Error::handle(&error);
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}
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/**
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* @brief Get the pipeline configuration parameters
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* @brief Returns the default configuration if the user has not configured it
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*
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* @return std::shared_ptr<Config> The configured parameters
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*/
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std::shared_ptr<Config> getConfig() const {
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ob_error *error = nullptr;
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auto config = ob_pipeline_get_config(impl_, &error);
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Error::handle(&error);
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return std::make_shared<Config>(config);
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}
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/**
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* @brief Wait for frameset
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*
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* @param timeoutMs The waiting timeout in milliseconds
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* @return std::shared_ptr<FrameSet> The waiting frameset data
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*/
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std::shared_ptr<FrameSet> waitForFrameset(uint32_t timeoutMs = 1000) const {
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ob_error *error = nullptr;
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auto frameSet = ob_pipeline_wait_for_frameset(impl_, timeoutMs, &error);
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if(frameSet == nullptr) {
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return nullptr;
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}
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Error::handle(&error);
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return std::make_shared<FrameSet>(frameSet);
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}
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/**
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* @brief Get the device object
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*
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* @return std::shared_ptr<Device> The device object
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*/
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std::shared_ptr<Device> getDevice() const {
|
||
|
|
ob_error *error = nullptr;
|
||
|
|
auto device = ob_pipeline_get_device(impl_, &error);
|
||
|
|
Error::handle(&error);
|
||
|
|
return std::make_shared<Device>(device);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get the stream profile of the specified sensor
|
||
|
|
*
|
||
|
|
* @param sensorType The type of sensor
|
||
|
|
* @return std::shared_ptr<StreamProfileList> The stream profile list
|
||
|
|
*/
|
||
|
|
std::shared_ptr<StreamProfileList> getStreamProfileList(OBSensorType sensorType) const {
|
||
|
|
ob_error *error = nullptr;
|
||
|
|
auto list = ob_pipeline_get_stream_profile_list(impl_, sensorType, &error);
|
||
|
|
Error::handle(&error);
|
||
|
|
return std::make_shared<StreamProfileList>(list);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get the stream profile list of supported depth-to-color alignments
|
||
|
|
*
|
||
|
|
* @param colorProfile The color stream profile, which is the target stream profile for the depth-to-color alignment.
|
||
|
|
* @param alignMode The alignment mode.
|
||
|
|
*
|
||
|
|
* @attention Currently, only ALIGN_D2C_HW_MODE supported. For other align modes, please using the AlignFilter interface.
|
||
|
|
*
|
||
|
|
* @return std::shared_ptr<StreamProfileList> The stream profile list of supported depth-to-color alignments.
|
||
|
|
*/
|
||
|
|
std::shared_ptr<StreamProfileList> getD2CDepthProfileList(std::shared_ptr<StreamProfile> colorProfile, OBAlignMode alignMode) {
|
||
|
|
ob_error *error = nullptr;
|
||
|
|
auto list = ob_get_d2c_depth_profile_list(impl_, colorProfile->getImpl(), alignMode, &error);
|
||
|
|
Error::handle(&error);
|
||
|
|
return std::make_shared<StreamProfileList>(list);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Turn on frame synchronization
|
||
|
|
*/
|
||
|
|
void enableFrameSync() const {
|
||
|
|
ob_error *error = nullptr;
|
||
|
|
ob_pipeline_enable_frame_sync(impl_, &error);
|
||
|
|
Error::handle(&error);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Turn off frame synchronization
|
||
|
|
*/
|
||
|
|
void disableFrameSync() const {
|
||
|
|
ob_error *error = nullptr;
|
||
|
|
ob_pipeline_disable_frame_sync(impl_, &error);
|
||
|
|
Error::handle(&error);
|
||
|
|
}
|
||
|
|
|
||
|
|
public:
|
||
|
|
// The following interfaces are deprecated and are retained here for compatibility purposes.
|
||
|
|
|
||
|
|
OBCameraParam getCameraParam() {
|
||
|
|
ob_error *error = nullptr;
|
||
|
|
OBCameraParam cameraParam = ob_pipeline_get_camera_param(impl_, &error);
|
||
|
|
Error::handle(&error);
|
||
|
|
return cameraParam;
|
||
|
|
}
|
||
|
|
|
||
|
|
OBCameraParam getCameraParamWithProfile(uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight) {
|
||
|
|
ob_error *error = nullptr;
|
||
|
|
OBCameraParam cameraParam = ob_pipeline_get_camera_param_with_profile(impl_, colorWidth, colorHeight, depthWidth, depthHeight, &error);
|
||
|
|
Error::handle(&error);
|
||
|
|
return cameraParam;
|
||
|
|
}
|
||
|
|
|
||
|
|
OBCalibrationParam getCalibrationParam(std::shared_ptr<Config> config) {
|
||
|
|
ob_error *error = nullptr;
|
||
|
|
OBCalibrationParam calibrationParam = ob_pipeline_get_calibration_param(impl_, config->getImpl(), &error);
|
||
|
|
Error::handle(&error);
|
||
|
|
return calibrationParam;
|
||
|
|
}
|
||
|
|
|
||
|
|
std::shared_ptr<FrameSet> waitForFrames(uint32_t timeoutMs = 1000) const {
|
||
|
|
return waitForFrameset(timeoutMs);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace ob
|