diff --git a/Doc/html/a00002.html b/Doc/html/a00002.html index 550a7b6..ed908c2 100644 --- a/Doc/html/a00002.html +++ b/Doc/html/a00002.html @@ -141,54 +141,52 @@   struct  TY_FLOAT_RANGE   -struct  TY_BYTEARRAY_ATTR +struct  TY_ENUM_ENTRY   -struct  TY_ENUM_ENTRY +struct  TY_VECT_3F   -struct  TY_VECT_3F +struct  TY_CAMERA_INTRINSIC   -struct  TY_CAMERA_INTRINSIC +struct  TY_CAMERA_EXTRINSIC   -struct  TY_CAMERA_EXTRINSIC +struct  TY_CAMERA_DISTORTION + camera distortion parameters More...
  -struct  TY_CAMERA_DISTORTION - camera distortion parameters More...
+struct  TY_CAMERA_CALIB_INFO   -struct  TY_CAMERA_CALIB_INFO +struct  TY_TRIGGER_PARAM   -struct  TY_TRIGGER_PARAM +struct  TY_TRIGGER_PARAM_EX   -struct  TY_TRIGGER_PARAM_EX +struct  TY_TRIGGER_TIMER_LIST   -struct  TY_TRIGGER_TIMER_LIST +struct  TY_TRIGGER_TIMER_PERIOD   -struct  TY_TRIGGER_TIMER_PERIOD +struct  TY_AEC_ROI_PARAM   -struct  TY_AEC_ROI_PARAM +struct  TY_CAMERA_STATISTICS   -struct  TY_CAMERA_STATISTICS +struct  TY_IMU_DATA   -struct  TY_IMU_DATA +struct  TY_ACC_BIAS   -struct  TY_ACC_BIAS +struct  TY_ACC_MISALIGNMENT   -struct  TY_ACC_MISALIGNMENT +struct  TY_ACC_SCALE   -struct  TY_ACC_SCALE +struct  TY_GYRO_BIAS   -struct  TY_GYRO_BIAS +struct  TY_GYRO_MISALIGNMENT   -struct  TY_GYRO_MISALIGNMENT +struct  TY_GYRO_SCALE   -struct  TY_GYRO_SCALE +struct  TY_CAMERA_TO_IMU   -struct  TY_CAMERA_TO_IMU +struct  TY_IMAGE_DATA   -struct  TY_IMAGE_DATA +struct  TY_FRAME_DATA   -struct  TY_FRAME_DATA -  -struct  TY_EVENT_INFO +struct  TY_EVENT_INFO   +#define  @@ -385,76 +383,73 @@ - - - + +typedef struct TY_VECT_3F  - + - + +typedef struct TY_CAMERA_DISTORTION  - + +typedef struct TY_TRIGGER_PARAM  +typedef struct TY_TRIGGER_PARAM_EX  +typedef struct TY_TRIGGER_TIMER_LIST  +typedef struct TY_TRIGGER_TIMER_PERIOD  +typedef struct TY_AEC_ROI_PARAM  +typedef struct TY_CAMERA_STATISTICS  +typedef struct TY_IMU_DATA  - + - + - + - + - + - + - + +typedef struct TY_IMAGE_DATA  +typedef struct TY_FRAME_DATA  +typedef struct TY_EVENT_INFO  +typedef void(*  +typedef void(* 

@@ -233,7 +231,7 @@ #define 

TY_LIB_VERSION_MINOR   5
 
-#define TY_LIB_VERSION_PATCH   18
TY_LIB_VERSION_PATCH   15
 
#define TY_DECLARE_IMAGE_MODE0(pix, res)   TY_IMAGE_MODE_##pix##_##res = TY_PIXEL_FORMAT_##pix | TY_RESOLUTION_MODE_##res
typedef struct TY_FLOAT_RANGE TY_FLOAT_RANGE
 
-typedef struct TY_BYTEARRAY_ATTR TY_BYTEARRAY_ATTR
 
typedef struct TY_ENUM_ENTRY TY_ENUM_ENTRY
typedef struct TY_ENUM_ENTRY TY_ENUM_ENTRY
 
-typedef struct TY_VECT_3F TY_VECT_3F
TY_VECT_3F
 
typedef struct TY_CAMERA_INTRINSIC TY_CAMERA_INTRINSIC
typedef struct TY_CAMERA_INTRINSIC TY_CAMERA_INTRINSIC
 
typedef struct TY_CAMERA_EXTRINSIC TY_CAMERA_EXTRINSIC
typedef struct TY_CAMERA_EXTRINSIC TY_CAMERA_EXTRINSIC
 
-typedef struct TY_CAMERA_DISTORTION TY_CAMERA_DISTORTION
TY_CAMERA_DISTORTION
 camera distortion parameters
 
typedef struct TY_CAMERA_CALIB_INFO TY_CAMERA_CALIB_INFO
typedef struct TY_CAMERA_CALIB_INFO TY_CAMERA_CALIB_INFO
 
-typedef struct TY_TRIGGER_PARAM TY_TRIGGER_PARAM
TY_TRIGGER_PARAM
 
-typedef struct TY_TRIGGER_PARAM_EX TY_TRIGGER_PARAM_EX
TY_TRIGGER_PARAM_EX
 
-typedef struct TY_TRIGGER_TIMER_LIST TY_TRIGGER_TIMER_LIST
TY_TRIGGER_TIMER_LIST
 
-typedef struct TY_TRIGGER_TIMER_PERIOD TY_TRIGGER_TIMER_PERIOD
TY_TRIGGER_TIMER_PERIOD
 
-typedef struct TY_AEC_ROI_PARAM TY_AEC_ROI_PARAM
TY_AEC_ROI_PARAM
 
-typedef struct TY_CAMERA_STATISTICS TY_CAMERA_STATISTICS
TY_CAMERA_STATISTICS
 
-typedef struct TY_IMU_DATA TY_IMU_DATA
TY_IMU_DATA
 
typedef struct TY_ACC_BIAS TY_ACC_BIAS
typedef struct TY_ACC_BIAS TY_ACC_BIAS
 
typedef struct TY_ACC_MISALIGNMENT TY_ACC_MISALIGNMENT
typedef struct TY_ACC_MISALIGNMENT TY_ACC_MISALIGNMENT
 
typedef struct TY_ACC_SCALE TY_ACC_SCALE
typedef struct TY_ACC_SCALE TY_ACC_SCALE
 
typedef struct TY_GYRO_BIAS TY_GYRO_BIAS
typedef struct TY_GYRO_BIAS TY_GYRO_BIAS
 
typedef struct TY_GYRO_MISALIGNMENT TY_GYRO_MISALIGNMENT
typedef struct TY_GYRO_MISALIGNMENT TY_GYRO_MISALIGNMENT
 
typedef struct TY_GYRO_SCALE TY_GYRO_SCALE
typedef struct TY_GYRO_SCALE TY_GYRO_SCALE
 
typedef struct TY_CAMERA_TO_IMU TY_CAMERA_TO_IMU
typedef struct TY_CAMERA_TO_IMU TY_CAMERA_TO_IMU
 
typedef enum TY_IMU_FPS_LIST TY_IMU_FPS_LIST
 
-typedef struct TY_IMAGE_DATA TY_IMAGE_DATA
TY_IMAGE_DATA
 
-typedef struct TY_FRAME_DATA TY_FRAME_DATA
TY_FRAME_DATA
 
-typedef struct TY_EVENT_INFO TY_EVENT_INFO
TY_EVENT_INFO
 
-typedef void(* TY_EVENT_CALLBACK) (TY_EVENT_INFO *, void *userdata)
TY_EVENT_CALLBACK) (TY_EVENT_INFO *, void *userdata)
 
-typedef void(* TY_IMU_CALLBACK) (TY_IMU_DATA *, void *userdata)
TY_IMU_CALLBACK) (TY_IMU_DATA *, void *userdata)
 
@@ -696,19 +688,15 @@   TY_PIXEL_FORMAT_UNDEFINED = 0, TY_PIXEL_FORMAT_MONO = (TY_PIXEL_8BIT | (0x0 << 24)), TY_PIXEL_FORMAT_BAYER8GB = (TY_PIXEL_8BIT | (0x1 << 24)), -TY_PIXEL_FORMAT_BAYER8BG = (TY_PIXEL_8BIT | (0x2 << 24)), -
-  TY_PIXEL_FORMAT_BAYER8GR = (TY_PIXEL_8BIT | (0x3 << 24)), -TY_PIXEL_FORMAT_BAYER8RG = (TY_PIXEL_8BIT | (0x4 << 24)), TY_PIXEL_FORMAT_DEPTH16 = (TY_PIXEL_16BIT | (0x0 << 24)), -TY_PIXEL_FORMAT_YVYU = (TY_PIXEL_16BIT | (0x1 << 24)),
-  TY_PIXEL_FORMAT_YUYV = (TY_PIXEL_16BIT | (0x2 << 24)), +  TY_PIXEL_FORMAT_YVYU = (TY_PIXEL_16BIT | (0x1 << 24)), +TY_PIXEL_FORMAT_YUYV = (TY_PIXEL_16BIT | (0x2 << 24)), TY_PIXEL_FORMAT_MONO16 = (TY_PIXEL_16BIT | (0x3 << 24)), TY_PIXEL_FORMAT_RGB = (TY_PIXEL_24BIT | (0x0 << 24)), -TY_PIXEL_FORMAT_BGR = (TY_PIXEL_24BIT | (0x1 << 24)),
-  TY_PIXEL_FORMAT_JPEG = (TY_PIXEL_24BIT | (0x2 << 24)), +  TY_PIXEL_FORMAT_BGR = (TY_PIXEL_24BIT | (0x1 << 24)), +TY_PIXEL_FORMAT_JPEG = (TY_PIXEL_24BIT | (0x2 << 24)), TY_PIXEL_FORMAT_MJPG = (TY_PIXEL_24BIT | (0x3 << 24))
} @@ -745,11 +733,7 @@ TY_DECLARE_IMAGE_MODE1 =(MONO),
  TY_DECLARE_IMAGE_MODE1 =(MONO), -TY_DECLARE_IMAGE_MODE1 =(MONO), -TY_DECLARE_IMAGE_MODE1 =(MONO), -TY_DECLARE_IMAGE_MODE1 =(MONO), -
-  TY_DECLARE_IMAGE_MODE1 =(MONO) +TY_DECLARE_IMAGE_MODE1 =(MONO)
} @@ -766,7 +750,6 @@ TY_TRIGGER_MODE_TIMER_PERIOD = 21,
  TY_TRIGGER_MODE_PER_PASS2 = 30, -TY_TRIGGER_WORK_MODE31 = 31, TY_TRIGGER_MODE_SIG_LASER = 34
} @@ -887,7 +870,7 @@ - + @@ -917,7 +900,7 @@ - + @@ -956,9 +939,6 @@ - - - @@ -985,7 +965,7 @@

Value:
TY_DECLARE_IMAGE_MODE0(pix, 160x100), \
TY_DECLARE_IMAGE_MODE0(pix, 160x120), \
TY_DECLARE_IMAGE_MODE0(pix, 320x180), \
TY_DECLARE_IMAGE_MODE0(pix, 320x200), \
TY_DECLARE_IMAGE_MODE0(pix, 320x240), \
TY_DECLARE_IMAGE_MODE0(pix, 480x640), \
TY_DECLARE_IMAGE_MODE0(pix, 640x360), \
TY_DECLARE_IMAGE_MODE0(pix, 640x400), \
TY_DECLARE_IMAGE_MODE0(pix, 640x480), \
TY_DECLARE_IMAGE_MODE0(pix, 960x1280), \
TY_DECLARE_IMAGE_MODE0(pix, 1280x720), \
TY_DECLARE_IMAGE_MODE0(pix, 1280x960), \
TY_DECLARE_IMAGE_MODE0(pix, 1280x800), \
TY_DECLARE_IMAGE_MODE0(pix, 1920x1080), \
TY_DECLARE_IMAGE_MODE0(pix, 2592x1944)
-

Definition at line 420 of file TYApi.h.

+

Definition at line 439 of file TYApi.h.

@@ -997,7 +977,7 @@

@@ -628,21 +623,18 @@ TY_INT_B_GAIN = 0x0522 | TY_FEATURE_INT,
  TY_INT_ANALOG_GAIN = 0x0524 | TY_FEATURE_INT, -TY_BOOL_HDR = 0x0525 | TY_FEATURE_BOOL, -TY_BYTEARRAY_HDR_PARAMETER = 0x0526 | TY_FEATURE_BYTEARRAY, TY_BOOL_IMU_DATA_ONOFF = 0x0600 | TY_FEATURE_BOOL, -
-  TY_STRUCT_IMU_ACC_BIAS = 0x0601 | TY_FEATURE_STRUCT, +TY_STRUCT_IMU_ACC_BIAS = 0x0601 | TY_FEATURE_STRUCT, TY_STRUCT_IMU_ACC_MISALIGNMENT = 0x0602 | TY_FEATURE_STRUCT, -TY_STRUCT_IMU_ACC_SCALE = 0x0603 | TY_FEATURE_STRUCT, -TY_STRUCT_IMU_GYRO_BIAS = 0x0604 | TY_FEATURE_STRUCT,
-  TY_STRUCT_IMU_GYRO_MISALIGNMENT = 0x0605 | TY_FEATURE_STRUCT, +  TY_STRUCT_IMU_ACC_SCALE = 0x0603 | TY_FEATURE_STRUCT, +TY_STRUCT_IMU_GYRO_BIAS = 0x0604 | TY_FEATURE_STRUCT, +TY_STRUCT_IMU_GYRO_MISALIGNMENT = 0x0605 | TY_FEATURE_STRUCT, TY_STRUCT_IMU_GYRO_SCALE = 0x0606 | TY_FEATURE_STRUCT, -TY_STRUCT_IMU_CAM_TO_IMU = 0x0607 | TY_FEATURE_STRUCT, -TY_ENUM_IMU_FPS = 0x0608 | TY_FEATURE_ENUM,
-  TY_ENUM_DEPTH_QUALITY = 0x0900 | TY_FEATURE_ENUM +  TY_STRUCT_IMU_CAM_TO_IMU = 0x0607 | TY_FEATURE_STRUCT, +TY_ENUM_IMU_FPS = 0x0608 | TY_FEATURE_ENUM, +TY_ENUM_DEPTH_QUALITY = 0x0900 | TY_FEATURE_ENUM
}

 feature for component definitions More...
 Predefined Image Mode List image mode controls image resolution & format predefined image modes named like TY_IMAGE_MODE_MONO_160x120,TY_IMAGE_MODE_RGB_1280x960.
TY_CAPI TYRegisterImuCallback (TY_DEV_HANDLE hDevice, TY_IMU_CALLBACK callback, void *userdata)
 Register imu callback. Register NULL to clean callback. More...
 
TY_CAPI TYFetchFrame (TY_DEV_HANDLE hDevice, TY_FRAME_DATA *frame, int32_t timeout)
TY_CAPI TYFetchFrame (TY_DEV_HANDLE hDevice, TY_FRAME_DATA *frame, int32_t timeout)
 Fetch one frame. More...
 
TY_CAPI TYHasFeature (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool *value)
TY_CAPI TYGetEnumEntryCount (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t *entryCount)
 Get number of enum entries. More...
 
TY_CAPI TYGetEnumEntryInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_ENUM_ENTRY *entries, uint32_t entryCount, uint32_t *filledEntryCount)
TY_CAPI TYGetEnumEntryInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_ENUM_ENTRY *entries, uint32_t entryCount, uint32_t *filledEntryCount)
 Get list of enum entries. More...
 
TY_CAPI TYGetEnum (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t *value)
TY_CAPI TYSetByteArray (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const uint8_t *pBuffer, uint32_t bufferSize)
 Write byte array to device. More...
 
TY_CAPI TYGetByteArrayAttr (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_BYTEARRAY_ATTR *pAttr)
 Write byte array to device. More...
 
TY_CAPI _TYInitLib (void)
 
- +
typedef struct TY_ACC_BIAS TY_ACC_BIAStypedef struct TY_ACC_BIAS TY_ACC_BIAS
@@ -1018,7 +998,7 @@

- +
typedef struct TY_ACC_MISALIGNMENT TY_ACC_MISALIGNMENTtypedef struct TY_ACC_MISALIGNMENT TY_ACC_MISALIGNMENT

@@ -1043,7 +1023,7 @@

- +
typedef struct TY_ACC_SCALE TY_ACC_SCALEtypedef struct TY_ACC_SCALE TY_ACC_SCALE

@@ -1068,7 +1048,7 @@

- +
typedef struct TY_CAMERA_CALIB_INFO TY_CAMERA_CALIB_INFOtypedef struct TY_CAMERA_CALIB_INFO TY_CAMERA_CALIB_INFO

@@ -1083,7 +1063,7 @@

- +
typedef struct TY_CAMERA_EXTRINSIC TY_CAMERA_EXTRINSICtypedef struct TY_CAMERA_EXTRINSIC TY_CAMERA_EXTRINSIC

@@ -1109,7 +1089,7 @@

- +
typedef struct TY_CAMERA_INTRINSIC TY_CAMERA_INTRINSICtypedef struct TY_CAMERA_INTRINSIC TY_CAMERA_INTRINSIC

@@ -1134,7 +1114,7 @@

- +
typedef struct TY_CAMERA_TO_IMU TY_CAMERA_TO_IMUtypedef struct TY_CAMERA_TO_IMU TY_CAMERA_TO_IMU

@@ -1168,7 +1148,7 @@

See also
TY_DEVICE_COMPONENT_LIST
-

Definition at line 211 of file TYApi.h.

+

Definition at line 235 of file TYApi.h.

@@ -1209,7 +1189,7 @@

- +
typedef struct TY_ENUM_ENTRY TY_ENUM_ENTRYtypedef struct TY_ENUM_ENTRY TY_ENUM_ENTRY
@@ -1232,7 +1212,7 @@

See also
TY_FEATURE_ID_LIST
-

Definition at line 316 of file TYApi.h.

+

Definition at line 338 of file TYApi.h.

@@ -1243,7 +1223,7 @@

- +
typedef struct TY_GYRO_BIAS TY_GYRO_BIAStypedef struct TY_GYRO_BIAS TY_GYRO_BIAS
@@ -1264,7 +1244,7 @@

- +
typedef struct TY_GYRO_MISALIGNMENT TY_GYRO_MISALIGNMENTtypedef struct TY_GYRO_MISALIGNMENT TY_GYRO_MISALIGNMENT

@@ -1289,7 +1269,7 @@

- +
typedef struct TY_GYRO_SCALE TY_GYRO_SCALEtypedef struct TY_GYRO_SCALE TY_GYRO_SCALE

@@ -1375,7 +1355,7 @@

Definition at line 196 of file TYApi.h.

+

Definition at line 220 of file TYApi.h.

@@ -1393,15 +1373,15 @@

-EnumeratorTY_STRUCT_CAM_INTRINSIC 

see TY_CAMERA_INTRINSIC

+EnumeratorTY_STRUCT_CAM_INTRINSIC 

see TY_CAMERA_INTRINSIC

-TY_STRUCT_EXTRINSIC_TO_DEPTH 

extrinsic between depth cam and current component , see TY_CAMERA_EXTRINSIC

+TY_STRUCT_EXTRINSIC_TO_DEPTH 

extrinsic between depth cam and current component , see TY_CAMERA_EXTRINSIC

-TY_STRUCT_EXTRINSIC_TO_IR_LEFT 

extrinsic between left IR and current compoent, see TY_CAMERA_EXTRINSIC

+TY_STRUCT_EXTRINSIC_TO_IR_LEFT 

extrinsic between left IR and current compoent, see TY_CAMERA_EXTRINSIC

-TY_STRUCT_CAM_DISTORTION 

see TY_CAMERA_DISTORTION

+TY_STRUCT_CAM_DISTORTION 

see TY_CAMERA_DISTORTION

-TY_STRUCT_CAM_CALIB_DATA 

see TY_CAMERA_CALIB_INFO

+TY_STRUCT_CAM_CALIB_DATA 

see TY_CAMERA_CALIB_INFO

TY_BYTEARRAY_CUSTOM_BLOCK 

used for reading/writing custom block

@@ -1411,7 +1391,7 @@

TY_INT_NTP_SERVER_IP 

Ntp server IP.

-TY_STRUCT_CAM_STATISTICS 

statistical information, see TY_CAMERA_STATISTICS

+TY_STRUCT_CAM_STATISTICS 

statistical information, see TY_CAMERA_STATISTICS

TY_INT_WIDTH 

Image width.

@@ -1423,13 +1403,13 @@

TY_INT_FRAME_PER_TRIGGER 

Number of frames captured per trigger.

-TY_STRUCT_TRIGGER_PARAM 

param of trigger, see TY_TRIGGER_PARAM

+TY_STRUCT_TRIGGER_PARAM 

param of trigger, see TY_TRIGGER_PARAM

-TY_STRUCT_TRIGGER_PARAM_EX 

param of trigger, see TY_TRIGGER_PARAM_EX

+TY_STRUCT_TRIGGER_PARAM_EX 

param of trigger, see TY_TRIGGER_PARAM_EX

-TY_STRUCT_TRIGGER_TIMER_LIST 

param of trigger mode 20, see TY_TRIGGER_TIMER_LIST

+TY_STRUCT_TRIGGER_TIMER_LIST 

param of trigger mode 20, see TY_TRIGGER_TIMER_LIST

-TY_STRUCT_TRIGGER_TIMER_PERIOD 

param of trigger mode 21, see TY_TRIGGER_TIMER_PERIOD

+TY_STRUCT_TRIGGER_TIMER_PERIOD 

param of trigger mode 21, see TY_TRIGGER_TIMER_PERIOD

TY_BOOL_KEEP_ALIVE_ONOFF 

Keep Alive switch.

@@ -1459,7 +1439,7 @@

TY_BOOL_AUTO_AWB 

Auto white balance.

-TY_STRUCT_AEC_ROI 

region of aec statistics, see TY_AEC_ROI_PARAM

+TY_STRUCT_AEC_ROI 

region of aec statistics, see TY_AEC_ROI_PARAM

TY_INT_LASER_POWER 

Laser power level.

@@ -1481,19 +1461,19 @@

TY_BOOL_IMU_DATA_ONOFF 

IMU Data Onoff.

-TY_STRUCT_IMU_ACC_BIAS 

IMU acc bias matrix, see TY_ACC_BIAS.

+TY_STRUCT_IMU_ACC_BIAS 

IMU acc bias matrix, see TY_ACC_BIAS.

-TY_STRUCT_IMU_ACC_MISALIGNMENT 

IMU acc misalignment matrix, see TY_ACC_MISALIGNMENT.

+TY_STRUCT_IMU_ACC_MISALIGNMENT 

IMU acc misalignment matrix, see TY_ACC_MISALIGNMENT.

-TY_STRUCT_IMU_ACC_SCALE 

IMU acc scale matrix, see TY_ACC_SCALE.

+TY_STRUCT_IMU_ACC_SCALE 

IMU acc scale matrix, see TY_ACC_SCALE.

-TY_STRUCT_IMU_GYRO_BIAS 

IMU gyro bias matrix, see TY_GYRO_BIAS.

+TY_STRUCT_IMU_GYRO_BIAS 

IMU gyro bias matrix, see TY_GYRO_BIAS.

-TY_STRUCT_IMU_GYRO_MISALIGNMENT 

IMU gyro misalignment matrix, see TY_GYRO_MISALIGNMENT.

+TY_STRUCT_IMU_GYRO_MISALIGNMENT 

IMU gyro misalignment matrix, see TY_GYRO_MISALIGNMENT.

-TY_STRUCT_IMU_GYRO_SCALE 

IMU gyro scale matrix, see TY_GYRO_SCALE.

+TY_STRUCT_IMU_GYRO_SCALE 

IMU gyro scale matrix, see TY_GYRO_SCALE.

-TY_STRUCT_IMU_CAM_TO_IMU 

IMU camera to imu matrix, see TY_CAMERA_TO_IMU.

+TY_STRUCT_IMU_CAM_TO_IMU 

IMU camera to imu matrix, see TY_CAMERA_TO_IMU.

TY_ENUM_IMU_FPS 

IMU fps, see TY_IMU_FPS_LIST.

@@ -1501,7 +1481,7 @@

Definition at line 230 of file TYApi.h.

+

Definition at line 254 of file TYApi.h.

@@ -1523,12 +1503,6 @@

TY_PIXEL_FORMAT_BAYER8GB 

0x11000000

-TY_PIXEL_FORMAT_BAYER8BG 

0x12000000

- -TY_PIXEL_FORMAT_BAYER8GR 

0x13000000

- -TY_PIXEL_FORMAT_BAYER8RG 

0x14000000

- TY_PIXEL_FORMAT_DEPTH16 

0x20000000

TY_PIXEL_FORMAT_YVYU 

0x21000000, yvyu422

@@ -1547,7 +1521,7 @@

Definition at line 376 of file TYApi.h.

+

Definition at line 398 of file TYApi.h.

@@ -1599,7 +1573,7 @@

Definition at line 396 of file TYApi.h.

+

Definition at line 415 of file TYApi.h.

@@ -1628,7 +1602,7 @@

Definition at line 459 of file TYApi.h.

+

Definition at line 475 of file TYApi.h.

@@ -1959,7 +1933,7 @@

- TY_FRAME_DATA *  + TY_FRAME_DATA *  frame, @@ -2200,69 +2174,6 @@

-

◆ TYGetByteArrayAttr()

- -
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
TY_CAPI TYGetByteArrayAttr (TY_DEV_HANDLE hDevice,
TY_COMPONENT_ID componentID,
TY_FEATURE_ID featureID,
TY_BYTEARRAY_ATTR * pAttr 
)
-
- -

Write byte array to device.

-
Parameters
- - - - - -
[in]hDeviceDevice handle.
[in]componentIDComponent ID.
[in]featureIDFeature ID.
[out]pAttrbyte array attribute to be filled.
-
-
-
Return values
- - - - - - - - -
TY_STATUS_OKSucceed.
TY_STATUS_INVALID_HANDLEInvalid device handle.
TY_STATUS_INVALID_COMPONENTInvalid component ID.
TY_STATUS_INVALID_FEATUREInvalid feature ID.
TY_STATUS_NOT_PERMITTEDThe feature is not writable.
TY_STATUS_WRONG_TYPEThe feature's type is not TY_FEATURE_BYTEARRAY.
TY_STATUS_NULL_POINTERpbuffer is NULL.
-
-
-
@@ -2766,7 +2677,7 @@

- TY_ENUM_ENTRY *  + TY_ENUM_ENTRY *  entries, diff --git a/Doc/html/a00002.js b/Doc/html/a00002.js index 16860c2..85f6b85 100644 --- a/Doc/html/a00002.js +++ b/Doc/html/a00002.js @@ -8,30 +8,29 @@ var a00002 = [ "TY_FEATURE_INFO", "a00041.html", "a00041" ], [ "TY_INT_RANGE", "a00045.html", "a00045" ], [ "TY_FLOAT_RANGE", "a00049.html", "a00049" ], - [ "TY_BYTEARRAY_ATTR", "a00053.html", "a00053" ], - [ "TY_ENUM_ENTRY", "a00057.html", "a00057" ], - [ "TY_VECT_3F", "a00061.html", "a00061" ], - [ "TY_CAMERA_INTRINSIC", "a00065.html", "a00065" ], - [ "TY_CAMERA_EXTRINSIC", "a00069.html", "a00069" ], - [ "TY_CAMERA_DISTORTION", "a00073.html", "a00073" ], - [ "TY_CAMERA_CALIB_INFO", "a00077.html", "a00077" ], - [ "TY_TRIGGER_PARAM", "a00081.html", "a00081" ], - [ "TY_TRIGGER_PARAM_EX", "a00085.html", "a00085" ], - [ "TY_TRIGGER_TIMER_LIST", "a00101.html", "a00101" ], - [ "TY_TRIGGER_TIMER_PERIOD", "a00105.html", "a00105" ], - [ "TY_AEC_ROI_PARAM", "a00109.html", "a00109" ], - [ "TY_CAMERA_STATISTICS", "a00113.html", "a00113" ], - [ "TY_IMU_DATA", "a00117.html", "a00117" ], - [ "TY_ACC_BIAS", "a00121.html", "a00121" ], - [ "TY_ACC_MISALIGNMENT", "a00125.html", "a00125" ], - [ "TY_ACC_SCALE", "a00129.html", "a00129" ], - [ "TY_GYRO_BIAS", "a00133.html", "a00133" ], - [ "TY_GYRO_MISALIGNMENT", "a00137.html", "a00137" ], - [ "TY_GYRO_SCALE", "a00141.html", "a00141" ], - [ "TY_CAMERA_TO_IMU", "a00145.html", "a00145" ], - [ "TY_IMAGE_DATA", "a00149.html", "a00149" ], - [ "TY_FRAME_DATA", "a00153.html", "a00153" ], - [ "TY_EVENT_INFO", "a00157.html", "a00157" ], + [ "TY_ENUM_ENTRY", "a00053.html", "a00053" ], + [ "TY_VECT_3F", "a00057.html", "a00057" ], + [ "TY_CAMERA_INTRINSIC", "a00061.html", "a00061" ], + [ "TY_CAMERA_EXTRINSIC", "a00065.html", "a00065" ], + [ "TY_CAMERA_DISTORTION", "a00069.html", "a00069" ], + [ "TY_CAMERA_CALIB_INFO", "a00073.html", "a00073" ], + [ "TY_TRIGGER_PARAM", "a00077.html", "a00077" ], + [ "TY_TRIGGER_PARAM_EX", "a00081.html", "a00081" ], + [ "TY_TRIGGER_TIMER_LIST", "a00085.html", "a00085" ], + [ "TY_TRIGGER_TIMER_PERIOD", "a00089.html", "a00089" ], + [ "TY_AEC_ROI_PARAM", "a00093.html", "a00093" ], + [ "TY_CAMERA_STATISTICS", "a00097.html", "a00097" ], + [ "TY_IMU_DATA", "a00101.html", "a00101" ], + [ "TY_ACC_BIAS", "a00105.html", "a00105" ], + [ "TY_ACC_MISALIGNMENT", "a00109.html", "a00109" ], + [ "TY_ACC_SCALE", "a00113.html", "a00113" ], + [ "TY_GYRO_BIAS", "a00117.html", "a00117" ], + [ "TY_GYRO_MISALIGNMENT", "a00121.html", "a00121" ], + [ "TY_GYRO_SCALE", "a00125.html", "a00125" ], + [ "TY_CAMERA_TO_IMU", "a00129.html", "a00129" ], + [ "TY_IMAGE_DATA", "a00133.html", "a00133" ], + [ "TY_FRAME_DATA", "a00137.html", "a00137" ], + [ "TY_EVENT_INFO", "a00141.html", "a00141" ], [ "__bool_true_false_are_defined", "a00002.html#a665b0cc9ee2ced31785321d55cde349e", null ], [ "_STDBOOL_H", "a00002.html#acf321a232134025756777f61825c714b", null ], [ "bool", "a00002.html#abb452686968e48b67397da5f97445f5b", null ], @@ -55,7 +54,6 @@ var a00002 = [ "TY_ACCESS_MODE", "a00002.html#a4c69b0aa97b457db2f7690eb8d6de382", null ], [ "TY_ACCESS_MODE_LIST", "a00002.html#a15078b65ed54cf82b209c27c3cc502dd", null ], [ "TY_AEC_ROI_PARAM", "a00002.html#a45e52638813d86b3ef792e3a1e94687f", null ], - [ "TY_BYTEARRAY_ATTR", "a00002.html#a0b90bc4202515d8bdda7504d8f0c2fc3", null ], [ "TY_CAMERA_CALIB_INFO", "a00002.html#a512d8d9119e3ed6687e949461c1c0589", null ], [ "TY_CAMERA_DISTORTION", "a00002.html#a10ab401e330e93c6c7eb5d23933f8e05", null ], [ "TY_CAMERA_EXTRINSIC", "a00002.html#a1f4b31b2d5bd03eed597eeab3013f895", null ], @@ -204,8 +202,6 @@ var a00002 = [ "TY_INT_G_GAIN", "a00002.html#ad106ea6dcff8f708ca26b57c430f9124ad62bbcbda253a1dab4fdf7b694039839", null ], [ "TY_INT_B_GAIN", "a00002.html#ad106ea6dcff8f708ca26b57c430f9124aebd176e36456383af154c2bf12c94683", null ], [ "TY_INT_ANALOG_GAIN", "a00002.html#ad106ea6dcff8f708ca26b57c430f9124accb42916dcece10e84d7b701d2b852f0", null ], - [ "TY_BOOL_HDR", "a00002.html#ad106ea6dcff8f708ca26b57c430f9124a893e47e74f056b2fd1df01e31cc3385c", null ], - [ "TY_BYTEARRAY_HDR_PARAMETER", "a00002.html#ad106ea6dcff8f708ca26b57c430f9124a3bcb7ab3cd2b38502e51aec190877eff", null ], [ "TY_BOOL_IMU_DATA_ONOFF", "a00002.html#ad106ea6dcff8f708ca26b57c430f9124a1a00d0a48d1d0fabd6b1cab88c8644d6", null ], [ "TY_STRUCT_IMU_ACC_BIAS", "a00002.html#ad106ea6dcff8f708ca26b57c430f9124a5fd4b63f15738888f3bea3c05c57c86a", null ], [ "TY_STRUCT_IMU_ACC_MISALIGNMENT", "a00002.html#ad106ea6dcff8f708ca26b57c430f9124ad9dd45a95abc65d29f6891da82c78b19", null ], @@ -247,9 +243,6 @@ var a00002 = [ "TY_DECLARE_IMAGE_MODE1", "a00002.html#aec99fa7be38751f1b7d34fd8115ceefeaf168b0e8e0e841a14b5e12c23d8f167d", null ], [ "TY_DECLARE_IMAGE_MODE1", "a00002.html#aec99fa7be38751f1b7d34fd8115ceefeaf168b0e8e0e841a14b5e12c23d8f167d", null ], [ "TY_DECLARE_IMAGE_MODE1", "a00002.html#aec99fa7be38751f1b7d34fd8115ceefeaf168b0e8e0e841a14b5e12c23d8f167d", null ], - [ "TY_DECLARE_IMAGE_MODE1", "a00002.html#aec99fa7be38751f1b7d34fd8115ceefeaf168b0e8e0e841a14b5e12c23d8f167d", null ], - [ "TY_DECLARE_IMAGE_MODE1", "a00002.html#aec99fa7be38751f1b7d34fd8115ceefeaf168b0e8e0e841a14b5e12c23d8f167d", null ], - [ "TY_DECLARE_IMAGE_MODE1", "a00002.html#aec99fa7be38751f1b7d34fd8115ceefeaf168b0e8e0e841a14b5e12c23d8f167d", null ], [ "TY_DECLARE_IMAGE_MODE1", "a00002.html#aec99fa7be38751f1b7d34fd8115ceefeaf168b0e8e0e841a14b5e12c23d8f167d", null ] ] ], [ "TY_IMU_FPS_LIST", "a00002.html#a1b1190caa6c59377cf3c2636f8674b4b", [ @@ -275,9 +268,6 @@ var a00002 = [ "TY_PIXEL_FORMAT_UNDEFINED", "a00002.html#a3dd8e54985f49764a853f34728cd220fa5355000f0a3c4200e7ff92d9961974b5", null ], [ "TY_PIXEL_FORMAT_MONO", "a00002.html#a3dd8e54985f49764a853f34728cd220fa2a563dccaef7f6ab1a7272b196dc0e1c", null ], [ "TY_PIXEL_FORMAT_BAYER8GB", "a00002.html#a3dd8e54985f49764a853f34728cd220fa52b4963a0ac7ddd9adc3955d563321e0", null ], - [ "TY_PIXEL_FORMAT_BAYER8BG", "a00002.html#a3dd8e54985f49764a853f34728cd220fa47b0420d687d938ebf64a83a06f84f28", null ], - [ "TY_PIXEL_FORMAT_BAYER8GR", "a00002.html#a3dd8e54985f49764a853f34728cd220faabb681aba9a52e37c65d87cc00f6f984", null ], - [ "TY_PIXEL_FORMAT_BAYER8RG", "a00002.html#a3dd8e54985f49764a853f34728cd220fabc1193760206623b4831c65f53540123", null ], [ "TY_PIXEL_FORMAT_DEPTH16", "a00002.html#a3dd8e54985f49764a853f34728cd220faf4e62d361212dbe77ee366efb1f6e33d", null ], [ "TY_PIXEL_FORMAT_YVYU", "a00002.html#a3dd8e54985f49764a853f34728cd220fa606e25e5b07f0def1667d43eb6d5e3d2", null ], [ "TY_PIXEL_FORMAT_YUYV", "a00002.html#a3dd8e54985f49764a853f34728cd220fad5bfc84bf67929a19b2f345daa8a6ea6", null ], @@ -362,7 +352,6 @@ var a00002 = [ "TY_TRIGGER_MODE_TIMER_LIST", "a00002.html#a02513e8af0f5898d86aa8ada972f5fb9a39b526e2429787fefad464082c5829a9", null ], [ "TY_TRIGGER_MODE_TIMER_PERIOD", "a00002.html#a02513e8af0f5898d86aa8ada972f5fb9a7a1737dbd8d7ce4a9f44cb30c0dde92d", null ], [ "TY_TRIGGER_MODE_PER_PASS2", "a00002.html#a02513e8af0f5898d86aa8ada972f5fb9a3b1dae40f545db4c3a826466acc3e44f", null ], - [ "TY_TRIGGER_WORK_MODE31", "a00002.html#a02513e8af0f5898d86aa8ada972f5fb9a1849d4498a5065ab2f88608d0269d0e5", null ], [ "TY_TRIGGER_MODE_SIG_LASER", "a00002.html#a02513e8af0f5898d86aa8ada972f5fb9adedf8ab0e134fbabe9afe5061459b467", null ] ] ], [ "TY_TRIGGER_POL_LIST", "a00002.html#ac9e301e24ed27508226f1e0eaa4175c8", [ @@ -382,7 +371,6 @@ var a00002 = [ "TYForceDeviceIP", "a00002.html#ac5f5c8618b92b883a83a44fd8be7f7db", null ], [ "TYGetBool", "a00002.html#a5e735473417bd5771b3e6f0445661c53", null ], [ "TYGetByteArray", "a00002.html#a9cfe5842a0e8418783d9deff98b2cf90", null ], - [ "TYGetByteArrayAttr", "a00002.html#a305e99a577dfc89b7260fbb733ca0a93", null ], [ "TYGetByteArraySize", "a00002.html#ae4b787c2b243c4020614b828a95ee277", null ], [ "TYGetComponentIDs", "a00002.html#a5eeec980e1d7b51c41a8856a1abf28e5", null ], [ "TYGetDeviceInfo", "a00002.html#ade9775ca18449a26818034787f72d4e9", null ], diff --git a/Doc/html/a00002_source.html b/Doc/html/a00002_source.html index 321e44c..d512f75 100644 --- a/Doc/html/a00002_source.html +++ b/Doc/html/a00002_source.html @@ -90,255 +90,248 @@
TYApi.h
-Go to the documentation of this file.
1 
27 #ifndef TY_API_H_
28 #define TY_API_H_
29 
30 #include <stddef.h>
31 #include <stdlib.h>
32 
33 #ifdef WIN32
34 # ifndef _WIN32
35 # define _WIN32
36 # endif
37 #endif
38 
39 #ifdef _WIN32
40 # ifndef _STDINT_H
41 # if defined(_MSC_VER) && _MSC_VER < 1600
42  typedef __int8 int8_t;
43  typedef __int16 int16_t;
44  typedef __int32 int32_t;
45  typedef __int64 int64_t;
46  typedef unsigned __int8 uint8_t;
47  typedef unsigned __int16 uint16_t;
48  typedef unsigned __int32 uint32_t;
49  typedef unsigned __int64 uint64_t;
50 # else
51 # include <stdint.h>
52 # endif
53 # endif
54 #else
55 # include <stdint.h>
56 #endif
57 
58 // copy stdbool.h here in case bool not defined or <stdbool.h> cant be found
59 #ifndef _STDBOOL_H
60 # define _STDBOOL_H
61 # define __bool_true_false_are_defined 1
62 # ifndef __cplusplus
63 # define bool _Bool
64 # define true 1
65 # define false 0
66 # endif
67 #endif
68 
69 #ifdef _WIN32
70 # include <WinSock2.h>
71 # include <Windows.h>
72 # ifdef TY_STATIC_LIB
73 # define TY_DLLIMPORT
74 # define TY_DLLEXPORT
75 # else
76 # define TY_DLLIMPORT __declspec(dllimport)
77 # define TY_DLLEXPORT __declspec(dllexport)
78 # endif
79 # define TY_STDC __stdcall
80 # define TY_CDEC __cdecl
81 # ifdef RGB
82 # undef RGB
83 # endif
84 #else
85 # ifdef TY_STATIC_LIB
86 # define TY_DLLIMPORT
87 # define TY_DLLEXPORT
88 # else
89 # define TY_DLLIMPORT __attribute__((visibility("default")))
90 # define TY_DLLEXPORT __attribute__((visibility("default")))
91 # endif
92 # if defined(__i386__)
93 # define TY_STDC __attribute__((stdcall))
94 # define TY_CDEC __attribute__((cdecl))
95 # else
96 # define TY_STDC
97 # define TY_CDEC
98 # endif
99 #endif
100 
101 #ifdef TY_BUILDING_LIB
102 # define TY_EXPORT TY_DLLEXPORT
103 #else
104 # define TY_EXPORT TY_DLLIMPORT
105 #endif
106 
107 #if !defined(TY_EXTC)
108 # if defined(__cplusplus)
109 # define TY_EXTC extern "C"
110 # else
111 # define TY_EXTC
112 # endif
113 #endif
114 
115 
116 #define TY_LIB_VERSION_MAJOR 3
117 #define TY_LIB_VERSION_MINOR 5
118 #define TY_LIB_VERSION_PATCH 18
119 
120 
121 //------------------------------------------------------------------------------
123 typedef enum TY_STATUS_LIST
124 {
125  TY_STATUS_OK = 0,
126  TY_STATUS_ERROR = -1001,
127  TY_STATUS_NOT_INITED = -1002,
128  TY_STATUS_NOT_IMPLEMENTED = -1003,
129  TY_STATUS_NOT_PERMITTED = -1004,
130  TY_STATUS_DEVICE_ERROR = -1005,
131  TY_STATUS_INVALID_PARAMETER = -1006,
132  TY_STATUS_INVALID_HANDLE = -1007,
133  TY_STATUS_INVALID_COMPONENT = -1008,
134  TY_STATUS_INVALID_FEATURE = -1009,
135  TY_STATUS_WRONG_TYPE = -1010,
136  TY_STATUS_WRONG_SIZE = -1011,
137  TY_STATUS_OUT_OF_MEMORY = -1012,
138  TY_STATUS_OUT_OF_RANGE = -1013,
139  TY_STATUS_TIMEOUT = -1014,
140  TY_STATUS_WRONG_MODE = -1015,
141  TY_STATUS_BUSY = -1016,
142  TY_STATUS_IDLE = -1017,
143  TY_STATUS_NO_DATA = -1018,
144  TY_STATUS_NO_BUFFER = -1019,
145  TY_STATUS_NULL_POINTER = -1020,
146  TY_STATUS_READONLY_FEATURE = -1021,
147  TY_STATUS_INVALID_DESCRIPTOR= -1022,
148  TY_STATUS_INVALID_INTERFACE = -1023,
149  TY_STATUS_FIRMWARE_ERROR = -1024,
150 
151  /* ret_code from remote device */
152  TY_STATUS_DEV_EPERM = -1,
153  TY_STATUS_DEV_EIO = -5,
154  TY_STATUS_DEV_ENOMEM = -12,
155  TY_STATUS_DEV_EBUSY = -16,
156  TY_STATUS_DEV_EINVAL = -22,
157  /* endof ret_code from remote device */
158 }TY_STATUS_LIST;
159 typedef int32_t TY_STATUS;
160 
161 typedef enum TY_FW_ERRORCODE_LIST
162 {
163  TY_FW_ERRORCODE_CAM0_NOT_DETECTED = 0x00000001,
164  TY_FW_ERRORCODE_CAM1_NOT_DETECTED = 0x00000002,
165  TY_FW_ERRORCODE_CAM2_NOT_DETECTED = 0x00000004,
166  TY_FW_ERRORCODE_POE_NOT_INIT = 0x00000008,
167  TY_FW_ERRORCODE_RECMAP_NOT_CORRECT = 0x00000010,
168  TY_FW_ERRORCODE_LOOKUPTABLE_NOT_CORRECT = 0x00000020,
169  TY_FW_ERRORCODE_CONFIG_NOT_FOUND = 0x00010000,
170  TY_FW_ERRORCODE_CONFIG_NOT_CORRECT = 0x00020000,
171  TY_FW_ERRORCODE_XML_NOT_FOUND = 0x00040000,
172  TY_FW_ERRORCODE_XML_NOT_CORRECT = 0x00080000,
173  TY_FW_ERRORCODE_XML_OVERRIDE_FAILED = 0x00100000,
174  TY_FW_ERRORCODE_CAM_INIT_FAILED = 0x00200000,
175  TY_FW_ERRORCODE_LASER_INIT_FAILED = 0x00400000,
176 }TY_FW_ERRORCODE_LIST;
177 typedef int32_t TY_FW_ERRORCODE;
178 
179 typedef enum TY_EVENT_LIST
180 {
181  TY_EVENT_DEVICE_OFFLINE = -2001,
182  TY_EVENT_LICENSE_ERROR = -2002,
183  TY_EVENT_FW_INIT_ERROR = -2003,
184 }TY_ENENT_LIST;
185 typedef int32_t TY_EVENT;
186 
187 
188 typedef void* TY_INTERFACE_HANDLE;
189 typedef void* TY_DEV_HANDLE;
190 
191 
196 typedef enum TY_DEVICE_COMPONENT_LIST
197 {
198  TY_COMPONENT_DEVICE = 0x80000000,
199  TY_COMPONENT_DEPTH_CAM = 0x00010000,
200  TY_COMPONENT_IR_CAM_LEFT = 0x00040000,
201  TY_COMPONENT_IR_CAM_RIGHT = 0x00080000,
202  TY_COMPONENT_RGB_CAM_LEFT = 0x00100000,
203  TY_COMPONENT_RGB_CAM_RIGHT = 0x00200000,
204  TY_COMPONENT_LASER = 0x00400000,
205  TY_COMPONENT_IMU = 0x00800000,
206  TY_COMPONENT_BRIGHT_HISTO = 0x01000000,
207  TY_COMPONENT_STORAGE = 0x02000000,
208 
209  TY_COMPONENT_RGB_CAM = TY_COMPONENT_RGB_CAM_LEFT
210 }TY_DEVICE_COMPONENT_LIST;
211 typedef int32_t TY_COMPONENT_ID;
212 
213 
214 //------------------------------------------------------------------------------
216 typedef enum TY_FEATURE_TYPE_LIST
217 {
218  TY_FEATURE_INT = 0x1000,
219  TY_FEATURE_FLOAT = 0X2000,
220  TY_FEATURE_ENUM = 0x3000,
221  TY_FEATURE_BOOL = 0x4000,
222  TY_FEATURE_STRING = 0x5000,
223  TY_FEATURE_BYTEARRAY = 0x6000,
224  TY_FEATURE_STRUCT = 0x7000,
225 }TY_FEATURE_TYPE_LIST;
226 typedef int32_t TY_FEATURE_TYPE;
227 
228 
230 typedef enum TY_FEATURE_ID_LIST
231 {
232  TY_STRUCT_CAM_INTRINSIC = 0x0000 | TY_FEATURE_STRUCT,
233  TY_STRUCT_EXTRINSIC_TO_DEPTH = 0x0001 | TY_FEATURE_STRUCT,
234  TY_STRUCT_EXTRINSIC_TO_IR_LEFT = 0x0002 | TY_FEATURE_STRUCT,
235  TY_STRUCT_CAM_DISTORTION = 0x0006 | TY_FEATURE_STRUCT,
236  TY_STRUCT_CAM_CALIB_DATA = 0x0007 | TY_FEATURE_STRUCT,
237  TY_BYTEARRAY_CUSTOM_BLOCK = 0x000A | TY_FEATURE_BYTEARRAY,
238  TY_BYTEARRAY_ISP_BLOCK = 0x000B | TY_FEATURE_BYTEARRAY,
239 
240  TY_INT_PERSISTENT_IP = 0x0010 | TY_FEATURE_INT,
241  TY_INT_PERSISTENT_SUBMASK = 0x0011 | TY_FEATURE_INT,
242  TY_INT_PERSISTENT_GATEWAY = 0x0012 | TY_FEATURE_INT,
243  TY_BOOL_GVSP_RESEND = 0x0013 | TY_FEATURE_BOOL,
244  TY_INT_PACKET_DELAY = 0x0014 | TY_FEATURE_INT,
245  TY_INT_ACCEPTABLE_PERCENT = 0x0015 | TY_FEATURE_INT,
246  TY_INT_NTP_SERVER_IP = 0x0016 | TY_FEATURE_INT,
247  TY_INT_PACKET_SIZE = 0x0017 | TY_FEATURE_INT,
248  TY_STRUCT_CAM_STATISTICS = 0x00ff | TY_FEATURE_STRUCT,
249 
250  TY_INT_WIDTH_MAX = 0x0100 | TY_FEATURE_INT,
251  TY_INT_HEIGHT_MAX = 0x0101 | TY_FEATURE_INT,
252  TY_INT_OFFSET_X = 0x0102 | TY_FEATURE_INT,
253  TY_INT_OFFSET_Y = 0x0103 | TY_FEATURE_INT,
254  TY_INT_WIDTH = 0x0104 | TY_FEATURE_INT,
255  TY_INT_HEIGHT = 0x0105 | TY_FEATURE_INT,
256  TY_ENUM_IMAGE_MODE = 0x0109 | TY_FEATURE_ENUM,
257 
258  //@brief scale unit
259  //depth image is uint16 pixel format with default millimeter unit ,for some device can output Sub-millimeter accuracy data
260  //the acutal depth (mm)= PixelValue * ScaleUnit
261  TY_FLOAT_SCALE_UNIT = 0x010a | TY_FEATURE_FLOAT,
262 
263  TY_ENUM_TRIGGER_POL = 0x0201 | TY_FEATURE_ENUM,
264  TY_INT_FRAME_PER_TRIGGER = 0x0202 | TY_FEATURE_INT,
265  TY_STRUCT_TRIGGER_PARAM = 0x0523 | TY_FEATURE_STRUCT,
266  TY_STRUCT_TRIGGER_PARAM_EX = 0x0525 | TY_FEATURE_STRUCT,
267  TY_STRUCT_TRIGGER_TIMER_LIST = 0x0526 | TY_FEATURE_STRUCT,
268  TY_STRUCT_TRIGGER_TIMER_PERIOD = 0x0527 | TY_FEATURE_STRUCT,
269  TY_BOOL_KEEP_ALIVE_ONOFF = 0x0203 | TY_FEATURE_BOOL,
270  TY_INT_KEEP_ALIVE_TIMEOUT = 0x0204 | TY_FEATURE_INT,
271  TY_BOOL_CMOS_SYNC = 0x0205 | TY_FEATURE_BOOL,
272  TY_INT_TRIGGER_DELAY_US = 0x0206 | TY_FEATURE_INT,
273  TY_BOOL_TRIGGER_OUT_IO = 0x0207 | TY_FEATURE_BOOL,
274  TY_INT_TRIGGER_DURATION_US = 0x0208 | TY_FEATURE_INT,
275  TY_ENUM_STREAM_ASYNC = 0x0209 | TY_FEATURE_ENUM,
276  TY_INT_CAPTURE_TIME_US = 0x0210 | TY_FEATURE_INT,
277  TY_ENUM_TIME_SYNC_TYPE = 0x0211 | TY_FEATURE_ENUM,
278  TY_BOOL_TIME_SYNC_READY = 0x0212 | TY_FEATURE_BOOL,
279  TY_BOOL_FLASHLIGHT = 0x0213 | TY_FEATURE_BOOL,
280  TY_INT_FLASHLIGHT_INTENSITY = 0x0214 | TY_FEATURE_INT,
281 
282  TY_BOOL_AUTO_EXPOSURE = 0x0300 | TY_FEATURE_BOOL,
283  TY_INT_EXPOSURE_TIME = 0x0301 | TY_FEATURE_INT,
284  TY_BOOL_AUTO_GAIN = 0x0302 | TY_FEATURE_BOOL,
285  TY_INT_GAIN = 0x0303 | TY_FEATURE_INT,
286  TY_BOOL_AUTO_AWB = 0x0304 | TY_FEATURE_BOOL,
287  TY_STRUCT_AEC_ROI = 0x0305 | TY_FEATURE_STRUCT,
288 
289  TY_INT_LASER_POWER = 0x0500 | TY_FEATURE_INT,
290  TY_BOOL_LASER_AUTO_CTRL = 0x0501 | TY_FEATURE_BOOL,
291 
292  TY_BOOL_UNDISTORTION = 0x0510 | TY_FEATURE_BOOL,
293  TY_BOOL_BRIGHTNESS_HISTOGRAM = 0x0511 | TY_FEATURE_BOOL,
294  TY_BOOL_DEPTH_POSTPROC = 0x0512 | TY_FEATURE_BOOL,
295 
296  TY_INT_R_GAIN = 0x0520 | TY_FEATURE_INT,
297  TY_INT_G_GAIN = 0x0521 | TY_FEATURE_INT,
298  TY_INT_B_GAIN = 0x0522 | TY_FEATURE_INT,
299 
300  TY_INT_ANALOG_GAIN = 0x0524 | TY_FEATURE_INT,
301  TY_BOOL_HDR = 0x0525 | TY_FEATURE_BOOL,
302  TY_BYTEARRAY_HDR_PARAMETER = 0x0526 | TY_FEATURE_BYTEARRAY,
303 
304  TY_BOOL_IMU_DATA_ONOFF = 0x0600 | TY_FEATURE_BOOL,
305  TY_STRUCT_IMU_ACC_BIAS = 0x0601 | TY_FEATURE_STRUCT,
306  TY_STRUCT_IMU_ACC_MISALIGNMENT = 0x0602 | TY_FEATURE_STRUCT,
307  TY_STRUCT_IMU_ACC_SCALE = 0x0603 | TY_FEATURE_STRUCT,
308  TY_STRUCT_IMU_GYRO_BIAS = 0x0604 | TY_FEATURE_STRUCT,
309  TY_STRUCT_IMU_GYRO_MISALIGNMENT = 0x0605 | TY_FEATURE_STRUCT,
310  TY_STRUCT_IMU_GYRO_SCALE = 0x0606 | TY_FEATURE_STRUCT,
311  TY_STRUCT_IMU_CAM_TO_IMU = 0x0607 | TY_FEATURE_STRUCT,
312  TY_ENUM_IMU_FPS = 0x0608 | TY_FEATURE_ENUM,
313 
314  TY_ENUM_DEPTH_QUALITY = 0x0900 | TY_FEATURE_ENUM,
315 }TY_FEATURE_ID_LIST;
316 typedef int32_t TY_FEATURE_ID;
317 
318 typedef enum TY_DEPTH_QUALITY_LIST
319 {
320  TY_DEPTH_QUALITY_BASIC = 1,
321  TY_DEPTH_QUALITY_MEDIUM = 2,
322  TY_DEPTH_QUALITY_HIGH = 4,
323 }TY_DEPTH_QUALITY_LIST;
324 typedef int32_t TY_DEPTH_QUALITY;
325 
327 typedef enum TY_TRIGGER_POL_LIST
328 {
329  TY_TRIGGER_POL_FALLINGEDGE = 0,
330  TY_TRIGGER_POL_RISINGEDGE = 1,
331 }TY_TRIGGER_POL_LIST;
332 typedef int32_t TY_TRIGGER_POL;
333 
335 typedef enum TY_INTERFACE_TYPE_LIST
336 {
337  TY_INTERFACE_UNKNOWN = 0,
338  TY_INTERFACE_RAW = 1,
339  TY_INTERFACE_USB = 2,
340  TY_INTERFACE_ETHERNET = 4,
341  TY_INTERFACE_IEEE80211 = 8,
342  TY_INTERFACE_ALL = 0xffff,
343 }TY_INTERFACE_TYPE_LIST;
344 typedef int32_t TY_INTERFACE_TYPE;
345 
347 typedef enum TY_ACCESS_MODE_LIST
348 {
349  TY_ACCESS_READABLE = 0x1,
350  TY_ACCESS_WRITABLE = 0x2,
351 }TY_ACCESS_MODE_LIST;
352 typedef int8_t TY_ACCESS_MODE;
353 
355 typedef enum TY_STREAM_ASYNC_MODE_LIST
356 {
357  TY_STREAM_ASYNC_OFF = 0,
358  TY_STREAM_ASYNC_DEPTH = 1,
359  TY_STREAM_ASYNC_RGB = 2,
360  TY_STREAM_ASYNC_DEPTH_RGB = 3,
361  TY_STREAM_ASYNC_ALL = 0xff,
362 }TY_STREAM_ASYNC_MODE_LIST;
363 typedef int8_t TY_STREAM_ASYNC_MODE;
364 
365 //------------------------------------------------------------------------------
367 typedef enum TY_PIXEL_BITS_LIST{
368  TY_PIXEL_8BIT = 0x1 << 28,
369  TY_PIXEL_16BIT = 0x2 << 28,
370  TY_PIXEL_24BIT = 0x3 << 28,
371  TY_PIXEL_32BIT = 0x4 << 28,
372 }TY_PIXEL_BITS_LIST;
373 
374 
376 typedef enum TY_PIXEL_FORMAT_LIST{
377  TY_PIXEL_FORMAT_UNDEFINED = 0,
378  TY_PIXEL_FORMAT_MONO = (TY_PIXEL_8BIT | (0x0 << 24)),
379  TY_PIXEL_FORMAT_BAYER8GB = (TY_PIXEL_8BIT | (0x1 << 24)),
380  TY_PIXEL_FORMAT_BAYER8BG = (TY_PIXEL_8BIT | (0x2 << 24)),
381  TY_PIXEL_FORMAT_BAYER8GR = (TY_PIXEL_8BIT | (0x3 << 24)),
382  TY_PIXEL_FORMAT_BAYER8RG = (TY_PIXEL_8BIT | (0x4 << 24)),
383  TY_PIXEL_FORMAT_DEPTH16 = (TY_PIXEL_16BIT | (0x0 << 24)),
384  TY_PIXEL_FORMAT_YVYU = (TY_PIXEL_16BIT | (0x1 << 24)),
385  TY_PIXEL_FORMAT_YUYV = (TY_PIXEL_16BIT | (0x2 << 24)),
386  TY_PIXEL_FORMAT_MONO16 = (TY_PIXEL_16BIT | (0x3 << 24)),
387  TY_PIXEL_FORMAT_RGB = (TY_PIXEL_24BIT | (0x0 << 24)),
388  TY_PIXEL_FORMAT_BGR = (TY_PIXEL_24BIT | (0x1 << 24)),
389  TY_PIXEL_FORMAT_JPEG = (TY_PIXEL_24BIT | (0x2 << 24)),
390  TY_PIXEL_FORMAT_MJPG = (TY_PIXEL_24BIT | (0x3 << 24)),
391 }TY_PIXEL_FORMAT_LIST;
392 typedef int32_t TY_PIXEL_FORMAT;
393 
394 
396 typedef enum TY_RESOLUTION_MODE_LIST
397 {
398  TY_RESOLUTION_MODE_160x100 = (160<<12)+100,
399  TY_RESOLUTION_MODE_160x120 = (160<<12)+120,
400  TY_RESOLUTION_MODE_240x320 = (240<<12)+320,
401  TY_RESOLUTION_MODE_320x180 = (320<<12)+180,
402  TY_RESOLUTION_MODE_320x200 = (320<<12)+200,
403  TY_RESOLUTION_MODE_320x240 = (320<<12)+240,
404  TY_RESOLUTION_MODE_480x640 = (480<<12)+640,
405  TY_RESOLUTION_MODE_640x360 = (640<<12)+360,
406  TY_RESOLUTION_MODE_640x400 = (640<<12)+400,
407  TY_RESOLUTION_MODE_640x480 = (640<<12)+480,
408  TY_RESOLUTION_MODE_960x1280 = (960<<12)+1280,
409  TY_RESOLUTION_MODE_1280x720 = (1280<<12)+720,
410  TY_RESOLUTION_MODE_1280x800 = (1280<<12)+800,
411  TY_RESOLUTION_MODE_1280x960 = (1280<<12)+960,
412  TY_RESOLUTION_MODE_1920x1080 = (1920<<12)+1080,
413  TY_RESOLUTION_MODE_2592x1944 = (2592<<12)+1944,
414 }TY_RESOLUTION_MODE_LIST;
415 typedef int32_t TY_RESOLUTION_MODE;
416 
417 
418 #define TY_DECLARE_IMAGE_MODE0(pix, res) \
419  TY_IMAGE_MODE_##pix##_##res = TY_PIXEL_FORMAT_##pix | TY_RESOLUTION_MODE_##res
420 #define TY_DECLARE_IMAGE_MODE1(pix) \
421  TY_DECLARE_IMAGE_MODE0(pix, 160x100), \
422  TY_DECLARE_IMAGE_MODE0(pix, 160x120), \
423  TY_DECLARE_IMAGE_MODE0(pix, 320x180), \
424  TY_DECLARE_IMAGE_MODE0(pix, 320x200), \
425  TY_DECLARE_IMAGE_MODE0(pix, 320x240), \
426  TY_DECLARE_IMAGE_MODE0(pix, 480x640), \
427  TY_DECLARE_IMAGE_MODE0(pix, 640x360), \
428  TY_DECLARE_IMAGE_MODE0(pix, 640x400), \
429  TY_DECLARE_IMAGE_MODE0(pix, 640x480), \
430  TY_DECLARE_IMAGE_MODE0(pix, 960x1280), \
431  TY_DECLARE_IMAGE_MODE0(pix, 1280x720), \
432  TY_DECLARE_IMAGE_MODE0(pix, 1280x960), \
433  TY_DECLARE_IMAGE_MODE0(pix, 1280x800), \
434  TY_DECLARE_IMAGE_MODE0(pix, 1920x1080), \
435  TY_DECLARE_IMAGE_MODE0(pix, 2592x1944)
436 
437 
441 typedef enum TY_IMAGE_MODE_LIST
442 {
443  TY_DECLARE_IMAGE_MODE1(MONO),
444  TY_DECLARE_IMAGE_MODE1(DEPTH16),
445  TY_DECLARE_IMAGE_MODE1(YVYU),
446  TY_DECLARE_IMAGE_MODE1(YUYV),
447  TY_DECLARE_IMAGE_MODE1(RGB),
448  TY_DECLARE_IMAGE_MODE1(JPEG),
449  TY_DECLARE_IMAGE_MODE1(BAYER8GB),
450  TY_DECLARE_IMAGE_MODE1(BAYER8BG),
451  TY_DECLARE_IMAGE_MODE1(BAYER8GR),
452  TY_DECLARE_IMAGE_MODE1(BAYER8RG)
453 }TY_IMAGE_MODE_LIST;
454 typedef int32_t TY_IMAGE_MODE;
455 #undef TY_DECLARE_IMAGE_MODE0
456 #undef TY_DECLARE_IMAGE_MODE1
457 
459 typedef enum TY_TRIGGER_MODE_LIST
460 {
461  TY_TRIGGER_MODE_OFF = 0,
462  TY_TRIGGER_MODE_SLAVE = 1,
463  TY_TRIGGER_MODE_M_SIG = 2,
464  TY_TRIGGER_MODE_M_PER = 3,
465  TY_TRIGGER_MODE_SIG_PASS = 18,
466  TY_TRIGGER_MODE_PER_PASS = 19,
467  TY_TRIGGER_MODE_TIMER_LIST = 20,
468  TY_TRIGGER_MODE_TIMER_PERIOD= 21,
469  TY_TRIGGER_MODE_PER_PASS2 = 30,
470  TY_TRIGGER_WORK_MODE31 = 31,
471  TY_TRIGGER_MODE_SIG_LASER = 34,
472 }TY_TRIGGER_MODE_LIST;
473 typedef int16_t TY_TRIGGER_MODE;
474 
476 typedef enum TY_TIME_SYNC_TYPE_LIST
477 {
478  TY_TIME_SYNC_TYPE_NONE = 0,
479  TY_TIME_SYNC_TYPE_HOST = 1,
480  TY_TIME_SYNC_TYPE_NTP = 2,
481  TY_TIME_SYNC_TYPE_PTP = 3,
482  TY_TIME_SYNC_TYPE_CAN = 4,
483  TY_TIME_SYNC_TYPE_PTP_MASTER = 5,
484 }TY_TIME_SYNC_TYPE_LIST;
485 typedef int32_t TY_TIME_SYNC_TYPE;
486 
487 //------------------------------------------------------------------------------
488 // Struct
489 //------------------------------------------------------------------------------
490 typedef struct TY_VERSION_INFO
491 {
492  int32_t major;
493  int32_t minor;
494  int32_t patch;
495  int32_t reserved;
496 }TY_VERSION_INFO;
497 
498 typedef struct TY_DEVICE_NET_INFO
499 {
500  char mac[32];
501  char ip[32];
502  char netmask[32];
503  char gateway[32];
504  char broadcast[32];
505  char reserved[96];
506 }TY_DEVICE_NET_INFO;
507 
508 typedef struct TY_DEVICE_USB_INFO
509 {
510  int bus;
511  int addr;
512  char reserved[248];
513 }TY_DEVICE_USB_INFO;
514 
516 typedef struct TY_INTERFACE_INFO
517 {
518  char name[32];
519  char id[32];
520  TY_INTERFACE_TYPE type;
521  char reserved[4];
522  TY_DEVICE_NET_INFO netInfo; // only meaningful when TYIsNetworkInterface(type)
523 }TY_INTERFACE_INFO;
524 
526 typedef struct TY_DEVICE_BASE_INFO
527 {
528  TY_INTERFACE_INFO iface;
529  char id[32];
530  char vendorName[32];
531  char userDefinedName[32];
532  char modelName[32];
533  TY_VERSION_INFO hardwareVersion;
534  TY_VERSION_INFO firmwareVersion;
535  union {
536  TY_DEVICE_NET_INFO netInfo;
537  TY_DEVICE_USB_INFO usbInfo;
538  };
539  char buildHash[256];
540  char configVersion[256];
541  char reserved[256];
542 }TY_DEVICE_BASE_INFO;
543 
544 typedef struct TY_FEATURE_INFO
545 {
546  bool isValid;
547  TY_ACCESS_MODE accessMode;
548  bool writableAtRun;
549  char reserved0[1];
550  TY_COMPONENT_ID componentID;
551  TY_FEATURE_ID featureID;
552  char name[32];
553  int32_t bindComponentID;
554  int32_t bindFeatureID;
555  char reserved[252];
556 }TY_FEATURE_INFO;
557 
558 typedef struct TY_INT_RANGE
559 {
560  int32_t min;
561  int32_t max;
562  int32_t inc;
563  int32_t reserved[1];
564 }TY_INT_RANGE;
565 
566 typedef struct TY_FLOAT_RANGE
567 {
568  float min;
569  float max;
570  float inc;
571  float reserved[1];
572 }TY_FLOAT_RANGE;
573 
574 typedef struct TY_BYTEARRAY_ATTR
575 {
576  int32_t size;
577  int32_t unit_size;
578  int32_t valid_size;
581 }TY_BYTEARRAY_ATTR;
582 
585 typedef struct TY_ENUM_ENTRY
586 {
587  char description[64];
588  int32_t value;
589  int32_t reserved[3];
590 }TY_ENUM_ENTRY;
591 
592 typedef struct TY_VECT_3F
593 {
594  float x;
595  float y;
596  float z;
597 }TY_VECT_3F;
598 
605 typedef struct TY_CAMERA_INTRINSIC
606 {
607  float data[3*3];
608 }TY_CAMERA_INTRINSIC;
609 
617 typedef struct TY_CAMERA_EXTRINSIC
618 {
619  float data[4*4];
620 }TY_CAMERA_EXTRINSIC;
621 
623 typedef struct TY_CAMERA_DISTORTION
624 {
625  float data[12];
626 }TY_CAMERA_DISTORTION;
627 
628 
631 typedef struct TY_CAMERA_CALIB_INFO
632 {
633  int32_t intrinsicWidth;
634  int32_t intrinsicHeight;
635  TY_CAMERA_INTRINSIC intrinsic; // TY_STRUCT_CAM_INTRINSIC
636  TY_CAMERA_EXTRINSIC extrinsic; // TY_STRUCT_EXTRINSIC_TO_LEFT_IR
637  TY_CAMERA_DISTORTION distortion; // TY_STRUCT_CAM_DISTORTION
638 }TY_CAMERA_CALIB_INFO;
639 
640 
641 //@see sample SimpleView_TriggerMode
642 typedef struct TY_TRIGGER_PARAM
643 {
644  TY_TRIGGER_MODE mode;
645  int8_t fps;
646  int8_t rsvd;
647 }TY_TRIGGER_PARAM;
648 
649 //@see sample SimpleView_TriggerMode, only for TY_TRIGGER_MODE_SIG_PASS/TY_TRIGGER_MODE_PER_PASS
650 typedef struct TY_TRIGGER_PARAM_EX
651 {
652  TY_TRIGGER_MODE mode;
653  union
654  {
655  struct
656  {
657  int8_t fps;
658  int8_t duty;
659  int32_t laser_stream;
660  int32_t led_stream;
661  int32_t led_expo;
662  int32_t led_gain;
663  };
664  struct
665  {
666  int32_t ir_gain[2];
667  };
668  int32_t rsvd[32];
669  };
670 }TY_TRIGGER_PARAM_EX;
671 
672 //@see sample SimpleView_TriggerMode, only for TY_TRIGGER_MODE_TIMER_LIST
673 typedef struct TY_TRIGGER_TIMER_LIST
674 {
675  uint64_t start_time_us; // 0 for disable
676  uint32_t offset_us_count; // length of offset_us_list
677  uint32_t offset_us_list[50]; // used in TY_TRIGGER_MODE_TIMER_LIST mode
678 }TY_TRIGGER_TIMER_LIST;
679 
680 //@see sample SimpleView_TriggerMode, only for TY_TRIGGER_MODE_TIMER_PERIOD
681 typedef struct TY_TRIGGER_TIMER_PERIOD
682 {
683  uint64_t start_time_us; // 0 for disable
684  uint32_t trigger_count;
685  uint32_t period_us; // used in TY_TRIGGER_MODE_TIMER_PERIOD mode
686 }TY_TRIGGER_TIMER_PERIOD;
687 
688 typedef struct TY_AEC_ROI_PARAM
689 {
690  uint32_t x;
691  uint32_t y;
692  uint32_t w;
693  uint32_t h;
694 }TY_AEC_ROI_PARAM;
695 
696 typedef struct TY_CAMERA_STATISTICS
697 {
698  uint64_t packetReceived;
699  uint64_t packetLost;
700  uint64_t imageOutputed;
701  uint64_t imageDropped;
702  uint8_t rsvd[1024];
703 }TY_CAMERA_STATISTICS;
704 
705 typedef struct TY_IMU_DATA
706 {
707  uint64_t timestamp;
708  float acc_x;
709  float acc_y;
710  float acc_z;
711  float gyro_x;
712  float gyro_y;
713  float gyro_z;
714  float temperature;
715  float reserved[1];
716 }TY_IMU_DATA;
717 
722 typedef struct TY_ACC_BIAS
723 {
724  float data[3];
725 }TY_ACC_BIAS;
726 
734 typedef struct TY_ACC_MISALIGNMENT
735 {
736  float data[3 * 3];
737 }TY_ACC_MISALIGNMENT;
738 
745 typedef struct TY_ACC_SCALE
746 {
747  float data[3 * 3];
748 }TY_ACC_SCALE;
749 
754 typedef struct TY_GYRO_BIAS
755 {
756  float data[3];
757 }TY_GYRO_BIAS;
758 
765 typedef struct TY_GYRO_MISALIGNMENT
766 {
767  float data[3 * 3];
768 }TY_GYRO_MISALIGNMENT;
769 
776 typedef struct TY_GYRO_SCALE
777 {
778  float data[3 * 3];
779 }TY_GYRO_SCALE;
780 
788 typedef struct TY_CAMERA_TO_IMU
789 {
790  float data[4 * 4];
791 }TY_CAMERA_TO_IMU;
792 
793 typedef enum TY_IMU_FPS_LIST
794 {
795  TY_IMU_FPS_100HZ = 0,
796  TY_IMU_FPS_200HZ,
797  TY_IMU_FPS_400HZ,
798 }TY_IMU_FPS_LIST;
799 
800 //------------------------------------------------------------------------------
801 // Buffer & Callback
802 //------------------------------------------------------------------------------
803 typedef struct TY_IMAGE_DATA
804 {
805  uint64_t timestamp;
806  int32_t imageIndex;
807  int32_t status;
808  int32_t componentID;
809  int32_t size;
810  void* buffer;
811  int32_t width;
812  int32_t height;
813  int32_t pixelFormat;
814  int32_t reserved[9];
815 }TY_IMAGE_DATA;
816 
817 
818 typedef struct TY_FRAME_DATA
819 {
820  void* userBuffer;
821  int32_t bufferSize;
822  int32_t validCount;
823  int32_t reserved[6];
824  TY_IMAGE_DATA image[10];
825 }TY_FRAME_DATA;
826 
827 
828 typedef struct TY_EVENT_INFO
829 {
830  TY_EVENT eventId;
831  char message[124];
832 }TY_EVENT_INFO;
833 
834 
835 typedef void (*TY_EVENT_CALLBACK) (TY_EVENT_INFO*, void* userdata);
836 typedef void (*TY_IMU_CALLBACK) (TY_IMU_DATA*, void* userdata);
837 
838 
839 //------------------------------------------------------------------------------
840 // inlines
841 //------------------------------------------------------------------------------
842 static inline bool TYIsNetworkInterface(int32_t interfaceType)
843 {
844  return (interfaceType == TY_INTERFACE_ETHERNET) ||
845  (interfaceType == TY_INTERFACE_IEEE80211);
846 }
847 
848 static inline void TYIntToIPv4(uint32_t addr, uint8_t out[4])
849 {
850  out[0] = (addr>>24) & 0xff;
851  out[1] = (addr>>16) & 0xff;
852  out[2] = (addr>>8) & 0xff;
853  out[3] = (addr>>0) & 0xff;
854 }
855 
856 static inline uint32_t TYIPv4ToInt(uint8_t ip[4])
857 {
858  return (ip[0] << 24) | (ip[1] << 16) | (ip[2] << 8) | ip[3];
859 }
860 
862 static inline TY_IMAGE_DATA TYInitImageData(size_t size, void* buffer
863  , size_t width, size_t height)
864 {
865  TY_IMAGE_DATA out;
866  out.timestamp = 0;
867  out.imageIndex = 0;
868  out.status = 0;
869  out.componentID = 0;
870  out.size = size;
871  out.buffer = buffer;
872  out.width = width;
873  out.height = height;
874  out.pixelFormat = 0;
875  return out;
876 }
877 
879 static inline TY_FEATURE_TYPE TYFeatureType(TY_FEATURE_ID id)
880 {
881  return id & 0xf000;
882 }
883 
885 static inline int32_t TYPixelSize(TY_IMAGE_MODE imageMode)
886 {
887  return ((imageMode >> 28) & 0xf);
888 }
889 
891 static inline TY_IMAGE_MODE TYImageMode(TY_PIXEL_FORMAT pix, TY_RESOLUTION_MODE res)
892 {
893  return pix | res;
894 }
895 
897 static inline TY_RESOLUTION_MODE TYResolutionMode2(int width, int height){
898  return (TY_RESOLUTION_MODE)((width << 12) + height);
899 }
900 
902 static inline TY_IMAGE_MODE TYImageMode2(TY_PIXEL_FORMAT pix, int width,int height)
903 {
904  return pix | TYResolutionMode2(width, height);
905 }
906 
908 static inline TY_PIXEL_FORMAT TYPixelFormat(TY_IMAGE_MODE imageMode)
909 {
910  return imageMode & 0xff000000;
911 }
912 
914 static inline TY_RESOLUTION_MODE TYResolutionMode(TY_IMAGE_MODE imageMode)
915 {
916  return imageMode & 0x00ffffff;
917 }
918 
920 static inline int32_t TYImageWidth(TY_IMAGE_MODE imageMode)
921 {
922  return TYResolutionMode(imageMode) >> 12;
923 }
924 
926 static inline int32_t TYImageHeight(TY_IMAGE_MODE imageMode)
927 {
928  return TYResolutionMode(imageMode) & 0x0fff;
929 }
930 
931 //------------------------------------------------------------------------------
932 // C API
933 //------------------------------------------------------------------------------
934 #define TY_CAPI TY_EXTC TY_EXPORT TY_STATUS TY_STDC
935 
936 
940 TY_EXTC TY_EXPORT const char* TY_STDC TYErrorString (TY_STATUS errorID);
941 
942 
951 static inline TY_STATUS TYInitLib (void);
952 
955 TY_CAPI TYDeinitLib (void);
956 
961 TY_CAPI TYLibVersion (TY_VERSION_INFO* version);
962 
963 
968 TY_CAPI TYUpdateInterfaceList ();
969 
975 TY_CAPI TYGetInterfaceNumber (uint32_t* pNumIfaces);
976 
984 TY_CAPI TYGetInterfaceList (TY_INTERFACE_INFO* pIfaceInfos, uint32_t bufferCount, uint32_t* filledCount);
985 
993 TY_CAPI TYHasInterface (const char* ifaceID, bool* value);
994 
1003 TY_CAPI TYOpenInterface (const char* ifaceID, TY_INTERFACE_HANDLE* outHandle);
1004 
1010 TY_CAPI TYCloseInterface (TY_INTERFACE_HANDLE ifaceHandle);
1011 
1012 
1018 TY_CAPI TYUpdateDeviceList (TY_INTERFACE_HANDLE ifaceHandle);
1019 
1023 TY_CAPI TYUpdateAllDeviceList();
1024 
1032 TY_CAPI TYGetDeviceNumber (TY_INTERFACE_HANDLE ifaceHandle, uint32_t* deviceNumber);
1033 
1043 TY_CAPI TYGetDeviceList (TY_INTERFACE_HANDLE ifaceHandle, TY_DEVICE_BASE_INFO* deviceInfos, uint32_t bufferCount, uint32_t* filledDeviceCount);
1044 
1053 TY_CAPI TYHasDevice (TY_INTERFACE_HANDLE ifaceHandle, const char* deviceID, bool* value);
1054 
1067 TY_CAPI TYOpenDevice (TY_INTERFACE_HANDLE ifaceHandle, const char* deviceID, TY_DEV_HANDLE* outDeviceHandle, TY_FW_ERRORCODE* outFwErrorcode=NULL);
1068 
1080 TY_CAPI TYOpenDeviceWithIP (TY_INTERFACE_HANDLE ifaceHandle, const char* IP, TY_DEV_HANDLE* deviceHandle);
1081 
1088 TY_CAPI TYGetDeviceInterface (TY_DEV_HANDLE hDevice, TY_INTERFACE_HANDLE* pIface);
1089 
1104 TY_CAPI TYForceDeviceIP (TY_INTERFACE_HANDLE ifaceHandle, const char* MAC, const char* newIP, const char* newNetMask, const char* newGateway);
1105 
1111 TY_CAPI TYCloseDevice (TY_DEV_HANDLE hDevice, bool reboot=false);
1112 
1113 
1120 TY_CAPI TYGetDeviceInfo (TY_DEV_HANDLE hDevice, TY_DEVICE_BASE_INFO* info);
1121 
1129 TY_CAPI TYGetComponentIDs (TY_DEV_HANDLE hDevice, int32_t* componentIDs);
1130 
1138 TY_CAPI TYGetEnabledComponents (TY_DEV_HANDLE hDevice, int32_t* componentIDs);
1139 
1147 TY_CAPI TYEnableComponents (TY_DEV_HANDLE hDevice, int32_t componentIDs);
1148 
1157 TY_CAPI TYDisableComponents (TY_DEV_HANDLE hDevice, int32_t componentIDs);
1158 
1159 
1160 
1167 TY_CAPI TYGetFrameBufferSize (TY_DEV_HANDLE hDevice, uint32_t* bufferSize);
1168 
1177 TY_CAPI TYEnqueueBuffer (TY_DEV_HANDLE hDevice, void* buffer, uint32_t bufferSize);
1178 
1184 TY_CAPI TYClearBufferQueue (TY_DEV_HANDLE hDevice);
1185 
1186 
1187 
1195 TY_CAPI TYStartCapture (TY_DEV_HANDLE hDevice);
1196 
1203 TY_CAPI TYStopCapture (TY_DEV_HANDLE hDevice);
1204 
1212 TY_CAPI TYSendSoftTrigger (TY_DEV_HANDLE hDevice);
1213 
1221 TY_CAPI TYRegisterEventCallback (TY_DEV_HANDLE hDevice, TY_EVENT_CALLBACK callback, void* userdata);
1222 
1230 TY_CAPI TYRegisterImuCallback (TY_DEV_HANDLE hDevice, TY_IMU_CALLBACK callback, void* userdata);
1231 
1242 TY_CAPI TYFetchFrame (TY_DEV_HANDLE hDevice, TY_FRAME_DATA* frame, int32_t timeout);
1243 
1244 
1254 TY_CAPI TYHasFeature (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool* value);
1255 
1265 TY_CAPI TYGetFeatureInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FEATURE_INFO* featureInfo);
1266 
1267 
1268 
1280 TY_CAPI TYGetIntRange (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_INT_RANGE* intRange);
1281 
1293 TY_CAPI TYGetInt (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t* value);
1294 
1308 TY_CAPI TYSetInt (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value);
1309 
1321 TY_CAPI TYGetFloatRange (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FLOAT_RANGE* floatRange);
1322 
1334 TY_CAPI TYGetFloat (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float* value);
1335 
1349 TY_CAPI TYSetFloat (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float value);
1350 
1362 TY_CAPI TYGetEnumEntryCount (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* entryCount);
1363 
1377 TY_CAPI TYGetEnumEntryInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_ENUM_ENTRY* entries, uint32_t entryCount, uint32_t* filledEntryCount);
1378 
1390 TY_CAPI TYGetEnum (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t* value);
1391 
1405 TY_CAPI TYSetEnum (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value);
1406 
1418 TY_CAPI TYGetBool (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool* value);
1419 
1432 TY_CAPI TYSetBool (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool value);
1433 
1446 TY_CAPI TYGetStringLength (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* size);
1447 
1461 TY_CAPI TYGetString (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, char* buffer, uint32_t bufferSize);
1462 
1477 TY_CAPI TYSetString (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const char* buffer);
1478 
1492 TY_CAPI TYGetStruct (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void* pStruct, uint32_t structSize);
1493 
1509 TY_CAPI TYSetStruct (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void* pStruct, uint32_t structSize);
1510 
1522 TY_CAPI TYGetByteArraySize (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* pSize);
1523 
1537 TY_CAPI TYGetByteArray (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint8_t* pBuffer, uint32_t bufferSize);
1538 
1554 TY_CAPI TYSetByteArray (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const uint8_t* pBuffer, uint32_t bufferSize);
1555 
1568 
1569 TY_CAPI TYGetByteArrayAttr (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_BYTEARRAY_ATTR* pAttr);
1570 //------------------------------------------------------------------------------
1571 // Version check
1572 //------------------------------------------------------------------------------
1573 TY_CAPI _TYInitLib(void);
1574 static inline TY_STATUS TYInitLib(void)
1575 {
1576  TY_VERSION_INFO soVersion;
1577  TYLibVersion(&soVersion);
1578  if(!(soVersion.major == TY_LIB_VERSION_MAJOR && soVersion.minor >= TY_LIB_VERSION_MINOR)){
1579  abort(); // generate fault directly
1580  }
1581  return _TYInitLib();
1582 }
1583 
1584 //------------------------------------------------------------------------------
1585 // Summary
1586 //------------------------------------------------------------------------------
1587 TY_EXTC TY_EXPORT const char* TY_STDC TYErrorString (TY_STATUS errorID);
1588 
1589 inline TY_STATUS TYInitLib (void);
1590 TY_CAPI TYDeinitLib (void);
1591 TY_CAPI TYLibVersion (TY_VERSION_INFO* version);
1592 
1593 TY_CAPI TYUpdateInterfaceList ();
1594 TY_CAPI TYGetInterfaceNumber (uint32_t* pNumIfaces);
1595 TY_CAPI TYGetInterfaceList (TY_INTERFACE_INFO* pIfaceInfos, uint32_t bufferCount, uint32_t* filledCount);
1596 TY_CAPI TYHasInterface (const char* ifaceID, bool* value);
1597 TY_CAPI TYOpenInterface (const char* ifaceID, TY_INTERFACE_HANDLE* outHandle);
1598 TY_CAPI TYCloseInterface (TY_INTERFACE_HANDLE ifaceHandle);
1599 
1600 TY_CAPI TYUpdateDeviceList (TY_INTERFACE_HANDLE ifaceHandle);
1601 TY_CAPI TYGetDeviceNumber (TY_INTERFACE_HANDLE ifaceHandle, uint32_t* deviceNumber);
1602 TY_CAPI TYGetDeviceList (TY_INTERFACE_HANDLE ifaceHandle, TY_DEVICE_BASE_INFO* deviceInfos, uint32_t bufferCount, uint32_t* filledDeviceCount);
1603 TY_CAPI TYHasDevice (TY_INTERFACE_HANDLE ifaceHandle, const char* deviceID, bool* value);
1604 TY_CAPI TYOpenDevice (TY_INTERFACE_HANDLE ifaceHandle, const char* deviceID, TY_DEV_HANDLE* outDeviceHandle, TY_FW_ERRORCODE* outFwErrorcode);
1605 TY_CAPI TYOpenDeviceWithIP (TY_INTERFACE_HANDLE ifaceHandle, const char* IP, TY_DEV_HANDLE* deviceHandle);
1606 TY_CAPI TYGetDeviceInterface (TY_DEV_HANDLE hDevice, TY_INTERFACE_HANDLE* pIface);
1607 TY_CAPI TYForceDeviceIP (TY_INTERFACE_HANDLE ifaceHandle, const char* MAC, const char* newIP, const char* newNetMask, const char* newGateway);
1608 TY_CAPI TYCloseDevice (TY_DEV_HANDLE hDevice, bool reboot);
1609 
1610 TY_CAPI TYGetDeviceInfo (TY_DEV_HANDLE hDevice, TY_DEVICE_BASE_INFO* info);
1611 TY_CAPI TYGetComponentIDs (TY_DEV_HANDLE hDevice, int32_t* componentIDs);
1612 TY_CAPI TYGetEnabledComponents (TY_DEV_HANDLE hDevice, int32_t* componentIDs);
1613 TY_CAPI TYEnableComponents (TY_DEV_HANDLE hDevice, int32_t componentIDs);
1614 TY_CAPI TYDisableComponents (TY_DEV_HANDLE hDevice, int32_t componentIDs);
1615 
1616 TY_CAPI TYGetFrameBufferSize (TY_DEV_HANDLE hDevice, uint32_t* outSize);
1617 TY_CAPI TYEnqueueBuffer (TY_DEV_HANDLE hDevice, void* buffer, uint32_t bufferSize);
1618 TY_CAPI TYClearBufferQueue (TY_DEV_HANDLE hDevice);
1619 
1620 TY_CAPI TYStartCapture (TY_DEV_HANDLE hDevice);
1621 TY_CAPI TYStopCapture (TY_DEV_HANDLE hDevice);
1622 TY_CAPI TYSendSoftTrigger (TY_DEV_HANDLE hDevice);
1623 TY_CAPI TYRegisterEventCallback (TY_DEV_HANDLE hDevice, TY_EVENT_CALLBACK callback, void* userdata);
1624 TY_CAPI TYRegisterImuCallback (TY_DEV_HANDLE hDevice, TY_IMU_CALLBACK callback, void* userdata);
1625 TY_CAPI TYFetchFrame (TY_DEV_HANDLE hDevice, TY_FRAME_DATA* frame, int32_t timeout);
1626 
1627 TY_CAPI TYHasFeature (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool* value);
1628 TY_CAPI TYGetFeatureInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FEATURE_INFO* featureInfo);
1629 TY_CAPI TYGetIntRange (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_INT_RANGE* intRange);
1630 TY_CAPI TYGetInt (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t* value);
1631 TY_CAPI TYSetInt (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value);
1632 TY_CAPI TYGetFloatRange (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FLOAT_RANGE* floatRange);
1633 TY_CAPI TYGetFloat (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float* value);
1634 TY_CAPI TYSetFloat (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float value);
1635 TY_CAPI TYGetEnumEntryCount (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* entryCount);
1636 TY_CAPI TYGetEnumEntryInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_ENUM_ENTRY* entries, uint32_t entryCount, uint32_t* filledEntryCount);
1637 TY_CAPI TYGetEnum (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t* value);
1638 TY_CAPI TYSetEnum (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value);
1639 TY_CAPI TYGetBool (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool* value);
1640 TY_CAPI TYSetBool (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool value);
1641 TY_CAPI TYGetStringLength (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* length);
1642 TY_CAPI TYGetString (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, char* buffer, uint32_t bufferSize);
1643 TY_CAPI TYSetString (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const char* buffer);
1644 TY_CAPI TYGetStruct (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void* pStruct, uint32_t structSize);
1645 TY_CAPI TYSetStruct (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void* pStruct, uint32_t structSize);
1646 TY_CAPI TYGetByteArraySize (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* pSize);
1647 TY_CAPI TYGetByteArray (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint8_t* pBuffer, uint32_t bufferSize);
1648 TY_CAPI TYSetByteArray (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const uint8_t* pBuffer, uint32_t bufferSize);
1649 TY_CAPI TYGetByteArrayAttr (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_BYTEARRAY_ATTR* pAttr);
1650 
1651 
1652 #endif // TY_API_H_
TYSetBool
TY_CAPI TYSetBool(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool value)
Set value of bool feature.
-
TY_BYTEARRAY_ATTR::unit_size
int32_t unit_size
Bytes array size in bytes.
Definition: TYApi.h:577
+Go to the documentation of this file.
1 
51 #ifndef TY_API_H_
52 #define TY_API_H_
53 
54 #include <stddef.h>
55 #include <stdlib.h>
56 
57 #ifdef WIN32
58 # ifndef _WIN32
59 # define _WIN32
60 # endif
61 #endif
62 
63 #ifdef _WIN32
64 # ifndef _STDINT_H
65 # if defined(_MSC_VER) && _MSC_VER < 1600
66  typedef __int8 int8_t;
67  typedef __int16 int16_t;
68  typedef __int32 int32_t;
69  typedef __int64 int64_t;
70  typedef unsigned __int8 uint8_t;
71  typedef unsigned __int16 uint16_t;
72  typedef unsigned __int32 uint32_t;
73  typedef unsigned __int64 uint64_t;
74 # else
75 # include <stdint.h>
76 # endif
77 # endif
78 #else
79 # include <stdint.h>
80 #endif
81 
82 // copy stdbool.h here in case bool not defined or <stdbool.h> cant be found
83 #ifndef _STDBOOL_H
84 # define _STDBOOL_H
85 # define __bool_true_false_are_defined 1
86 # ifndef __cplusplus
87 # define bool _Bool
88 # define true 1
89 # define false 0
90 # endif
91 #endif
92 
93 #ifdef _WIN32
94 # include <WinSock2.h>
95 # include <Windows.h>
96 # ifdef TY_STATIC_LIB
97 # define TY_DLLIMPORT
98 # define TY_DLLEXPORT
99 # else
100 # define TY_DLLIMPORT __declspec(dllimport)
101 # define TY_DLLEXPORT __declspec(dllexport)
102 # endif
103 # define TY_STDC __stdcall
104 # define TY_CDEC __cdecl
105 # ifdef RGB
106 # undef RGB
107 # endif
108 #else
109 # ifdef TY_STATIC_LIB
110 # define TY_DLLIMPORT
111 # define TY_DLLEXPORT
112 # else
113 # define TY_DLLIMPORT __attribute__((visibility("default")))
114 # define TY_DLLEXPORT __attribute__((visibility("default")))
115 # endif
116 # if defined(__i386__)
117 # define TY_STDC __attribute__((stdcall))
118 # define TY_CDEC __attribute__((cdecl))
119 # else
120 # define TY_STDC
121 # define TY_CDEC
122 # endif
123 #endif
124 
125 #ifdef TY_BUILDING_LIB
126 # define TY_EXPORT TY_DLLEXPORT
127 #else
128 # define TY_EXPORT TY_DLLIMPORT
129 #endif
130 
131 #if !defined(TY_EXTC)
132 # if defined(__cplusplus)
133 # define TY_EXTC extern "C"
134 # else
135 # define TY_EXTC
136 # endif
137 #endif
138 
139 
140 #define TY_LIB_VERSION_MAJOR 3
141 #define TY_LIB_VERSION_MINOR 5
142 #define TY_LIB_VERSION_PATCH 15
143 
144 
145 //------------------------------------------------------------------------------
147 typedef enum TY_STATUS_LIST
148 {
149  TY_STATUS_OK = 0,
150  TY_STATUS_ERROR = -1001,
151  TY_STATUS_NOT_INITED = -1002,
152  TY_STATUS_NOT_IMPLEMENTED = -1003,
153  TY_STATUS_NOT_PERMITTED = -1004,
154  TY_STATUS_DEVICE_ERROR = -1005,
155  TY_STATUS_INVALID_PARAMETER = -1006,
156  TY_STATUS_INVALID_HANDLE = -1007,
157  TY_STATUS_INVALID_COMPONENT = -1008,
158  TY_STATUS_INVALID_FEATURE = -1009,
159  TY_STATUS_WRONG_TYPE = -1010,
160  TY_STATUS_WRONG_SIZE = -1011,
161  TY_STATUS_OUT_OF_MEMORY = -1012,
162  TY_STATUS_OUT_OF_RANGE = -1013,
163  TY_STATUS_TIMEOUT = -1014,
164  TY_STATUS_WRONG_MODE = -1015,
165  TY_STATUS_BUSY = -1016,
166  TY_STATUS_IDLE = -1017,
167  TY_STATUS_NO_DATA = -1018,
168  TY_STATUS_NO_BUFFER = -1019,
169  TY_STATUS_NULL_POINTER = -1020,
170  TY_STATUS_READONLY_FEATURE = -1021,
171  TY_STATUS_INVALID_DESCRIPTOR= -1022,
172  TY_STATUS_INVALID_INTERFACE = -1023,
173  TY_STATUS_FIRMWARE_ERROR = -1024,
174 
175  /* ret_code from remote device */
176  TY_STATUS_DEV_EPERM = -1,
177  TY_STATUS_DEV_EIO = -5,
178  TY_STATUS_DEV_ENOMEM = -12,
179  TY_STATUS_DEV_EBUSY = -16,
180  TY_STATUS_DEV_EINVAL = -22,
181  /* endof ret_code from remote device */
182 }TY_STATUS_LIST;
183 typedef int32_t TY_STATUS;
184 
185 typedef enum TY_FW_ERRORCODE_LIST
186 {
187  TY_FW_ERRORCODE_CAM0_NOT_DETECTED = 0x00000001,
188  TY_FW_ERRORCODE_CAM1_NOT_DETECTED = 0x00000002,
189  TY_FW_ERRORCODE_CAM2_NOT_DETECTED = 0x00000004,
190  TY_FW_ERRORCODE_POE_NOT_INIT = 0x00000008,
191  TY_FW_ERRORCODE_RECMAP_NOT_CORRECT = 0x00000010,
192  TY_FW_ERRORCODE_LOOKUPTABLE_NOT_CORRECT = 0x00000020,
193  TY_FW_ERRORCODE_CONFIG_NOT_FOUND = 0x00010000,
194  TY_FW_ERRORCODE_CONFIG_NOT_CORRECT = 0x00020000,
195  TY_FW_ERRORCODE_XML_NOT_FOUND = 0x00040000,
196  TY_FW_ERRORCODE_XML_NOT_CORRECT = 0x00080000,
197  TY_FW_ERRORCODE_XML_OVERRIDE_FAILED = 0x00100000,
198  TY_FW_ERRORCODE_CAM_INIT_FAILED = 0x00200000,
199  TY_FW_ERRORCODE_LASER_INIT_FAILED = 0x00400000,
200 }TY_FW_ERRORCODE_LIST;
201 typedef int32_t TY_FW_ERRORCODE;
202 
203 typedef enum TY_EVENT_LIST
204 {
205  TY_EVENT_DEVICE_OFFLINE = -2001,
206  TY_EVENT_LICENSE_ERROR = -2002,
207  TY_EVENT_FW_INIT_ERROR = -2003,
208 }TY_ENENT_LIST;
209 typedef int32_t TY_EVENT;
210 
211 
212 typedef void* TY_INTERFACE_HANDLE;
213 typedef void* TY_DEV_HANDLE;
214 
215 
220 typedef enum TY_DEVICE_COMPONENT_LIST
221 {
222  TY_COMPONENT_DEVICE = 0x80000000,
223  TY_COMPONENT_DEPTH_CAM = 0x00010000,
224  TY_COMPONENT_IR_CAM_LEFT = 0x00040000,
225  TY_COMPONENT_IR_CAM_RIGHT = 0x00080000,
226  TY_COMPONENT_RGB_CAM_LEFT = 0x00100000,
227  TY_COMPONENT_RGB_CAM_RIGHT = 0x00200000,
228  TY_COMPONENT_LASER = 0x00400000,
229  TY_COMPONENT_IMU = 0x00800000,
230  TY_COMPONENT_BRIGHT_HISTO = 0x01000000,
231  TY_COMPONENT_STORAGE = 0x02000000,
232 
233  TY_COMPONENT_RGB_CAM = TY_COMPONENT_RGB_CAM_LEFT
234 }TY_DEVICE_COMPONENT_LIST;
235 typedef int32_t TY_COMPONENT_ID;
236 
237 
238 //------------------------------------------------------------------------------
240 typedef enum TY_FEATURE_TYPE_LIST
241 {
242  TY_FEATURE_INT = 0x1000,
243  TY_FEATURE_FLOAT = 0X2000,
244  TY_FEATURE_ENUM = 0x3000,
245  TY_FEATURE_BOOL = 0x4000,
246  TY_FEATURE_STRING = 0x5000,
247  TY_FEATURE_BYTEARRAY = 0x6000,
248  TY_FEATURE_STRUCT = 0x7000,
249 }TY_FEATURE_TYPE_LIST;
250 typedef int32_t TY_FEATURE_TYPE;
251 
252 
254 typedef enum TY_FEATURE_ID_LIST
255 {
256  TY_STRUCT_CAM_INTRINSIC = 0x0000 | TY_FEATURE_STRUCT,
257  TY_STRUCT_EXTRINSIC_TO_DEPTH = 0x0001 | TY_FEATURE_STRUCT,
258  TY_STRUCT_EXTRINSIC_TO_IR_LEFT = 0x0002 | TY_FEATURE_STRUCT,
259  TY_STRUCT_CAM_DISTORTION = 0x0006 | TY_FEATURE_STRUCT,
260  TY_STRUCT_CAM_CALIB_DATA = 0x0007 | TY_FEATURE_STRUCT,
261  TY_BYTEARRAY_CUSTOM_BLOCK = 0x000A | TY_FEATURE_BYTEARRAY,
262  TY_BYTEARRAY_ISP_BLOCK = 0x000B | TY_FEATURE_BYTEARRAY,
263 
264  TY_INT_PERSISTENT_IP = 0x0010 | TY_FEATURE_INT,
265  TY_INT_PERSISTENT_SUBMASK = 0x0011 | TY_FEATURE_INT,
266  TY_INT_PERSISTENT_GATEWAY = 0x0012 | TY_FEATURE_INT,
267  TY_BOOL_GVSP_RESEND = 0x0013 | TY_FEATURE_BOOL,
268  TY_INT_PACKET_DELAY = 0x0014 | TY_FEATURE_INT,
269  TY_INT_ACCEPTABLE_PERCENT = 0x0015 | TY_FEATURE_INT,
270  TY_INT_NTP_SERVER_IP = 0x0016 | TY_FEATURE_INT,
271  TY_INT_PACKET_SIZE = 0x0017 | TY_FEATURE_INT,
272  TY_STRUCT_CAM_STATISTICS = 0x00ff | TY_FEATURE_STRUCT,
273 
274  TY_INT_WIDTH_MAX = 0x0100 | TY_FEATURE_INT,
275  TY_INT_HEIGHT_MAX = 0x0101 | TY_FEATURE_INT,
276  TY_INT_OFFSET_X = 0x0102 | TY_FEATURE_INT,
277  TY_INT_OFFSET_Y = 0x0103 | TY_FEATURE_INT,
278  TY_INT_WIDTH = 0x0104 | TY_FEATURE_INT,
279  TY_INT_HEIGHT = 0x0105 | TY_FEATURE_INT,
280  TY_ENUM_IMAGE_MODE = 0x0109 | TY_FEATURE_ENUM,
281 
282  //@brief scale unit
283  //depth image is uint16 pixel format with default millimeter unit ,for some device can output Sub-millimeter accuracy data
284  //the acutal depth (mm)= PixelValue * ScaleUnit
285  TY_FLOAT_SCALE_UNIT = 0x010a | TY_FEATURE_FLOAT,
286 
287  TY_ENUM_TRIGGER_POL = 0x0201 | TY_FEATURE_ENUM,
288  TY_INT_FRAME_PER_TRIGGER = 0x0202 | TY_FEATURE_INT,
289  TY_STRUCT_TRIGGER_PARAM = 0x0523 | TY_FEATURE_STRUCT,
290  TY_STRUCT_TRIGGER_PARAM_EX = 0x0525 | TY_FEATURE_STRUCT,
291  TY_STRUCT_TRIGGER_TIMER_LIST = 0x0526 | TY_FEATURE_STRUCT,
292  TY_STRUCT_TRIGGER_TIMER_PERIOD = 0x0527 | TY_FEATURE_STRUCT,
293  TY_BOOL_KEEP_ALIVE_ONOFF = 0x0203 | TY_FEATURE_BOOL,
294  TY_INT_KEEP_ALIVE_TIMEOUT = 0x0204 | TY_FEATURE_INT,
295  TY_BOOL_CMOS_SYNC = 0x0205 | TY_FEATURE_BOOL,
296  TY_INT_TRIGGER_DELAY_US = 0x0206 | TY_FEATURE_INT,
297  TY_BOOL_TRIGGER_OUT_IO = 0x0207 | TY_FEATURE_BOOL,
298  TY_INT_TRIGGER_DURATION_US = 0x0208 | TY_FEATURE_INT,
299  TY_ENUM_STREAM_ASYNC = 0x0209 | TY_FEATURE_ENUM,
300  TY_INT_CAPTURE_TIME_US = 0x0210 | TY_FEATURE_INT,
301  TY_ENUM_TIME_SYNC_TYPE = 0x0211 | TY_FEATURE_ENUM,
302  TY_BOOL_TIME_SYNC_READY = 0x0212 | TY_FEATURE_BOOL,
303  TY_BOOL_FLASHLIGHT = 0x0213 | TY_FEATURE_BOOL,
304  TY_INT_FLASHLIGHT_INTENSITY = 0x0214 | TY_FEATURE_INT,
305 
306  TY_BOOL_AUTO_EXPOSURE = 0x0300 | TY_FEATURE_BOOL,
307  TY_INT_EXPOSURE_TIME = 0x0301 | TY_FEATURE_INT,
308  TY_BOOL_AUTO_GAIN = 0x0302 | TY_FEATURE_BOOL,
309  TY_INT_GAIN = 0x0303 | TY_FEATURE_INT,
310  TY_BOOL_AUTO_AWB = 0x0304 | TY_FEATURE_BOOL,
311  TY_STRUCT_AEC_ROI = 0x0305 | TY_FEATURE_STRUCT,
312 
313  TY_INT_LASER_POWER = 0x0500 | TY_FEATURE_INT,
314  TY_BOOL_LASER_AUTO_CTRL = 0x0501 | TY_FEATURE_BOOL,
315 
316  TY_BOOL_UNDISTORTION = 0x0510 | TY_FEATURE_BOOL,
317  TY_BOOL_BRIGHTNESS_HISTOGRAM = 0x0511 | TY_FEATURE_BOOL,
318  TY_BOOL_DEPTH_POSTPROC = 0x0512 | TY_FEATURE_BOOL,
319 
320  TY_INT_R_GAIN = 0x0520 | TY_FEATURE_INT,
321  TY_INT_G_GAIN = 0x0521 | TY_FEATURE_INT,
322  TY_INT_B_GAIN = 0x0522 | TY_FEATURE_INT,
323 
324  TY_INT_ANALOG_GAIN = 0x0524 | TY_FEATURE_INT,
325 
326  TY_BOOL_IMU_DATA_ONOFF = 0x0600 | TY_FEATURE_BOOL,
327  TY_STRUCT_IMU_ACC_BIAS = 0x0601 | TY_FEATURE_STRUCT,
328  TY_STRUCT_IMU_ACC_MISALIGNMENT = 0x0602 | TY_FEATURE_STRUCT,
329  TY_STRUCT_IMU_ACC_SCALE = 0x0603 | TY_FEATURE_STRUCT,
330  TY_STRUCT_IMU_GYRO_BIAS = 0x0604 | TY_FEATURE_STRUCT,
331  TY_STRUCT_IMU_GYRO_MISALIGNMENT = 0x0605 | TY_FEATURE_STRUCT,
332  TY_STRUCT_IMU_GYRO_SCALE = 0x0606 | TY_FEATURE_STRUCT,
333  TY_STRUCT_IMU_CAM_TO_IMU = 0x0607 | TY_FEATURE_STRUCT,
334  TY_ENUM_IMU_FPS = 0x0608 | TY_FEATURE_ENUM,
335 
336  TY_ENUM_DEPTH_QUALITY = 0x0900 | TY_FEATURE_ENUM,
337 }TY_FEATURE_ID_LIST;
338 typedef int32_t TY_FEATURE_ID;
339 
340 typedef enum TY_DEPTH_QUALITY_LIST
341 {
342  TY_DEPTH_QUALITY_BASIC = 1,
343  TY_DEPTH_QUALITY_MEDIUM = 2,
344  TY_DEPTH_QUALITY_HIGH = 4,
345 }TY_DEPTH_QUALITY_LIST;
346 typedef int32_t TY_DEPTH_QUALITY;
347 
349 typedef enum TY_TRIGGER_POL_LIST
350 {
351  TY_TRIGGER_POL_FALLINGEDGE = 0,
352  TY_TRIGGER_POL_RISINGEDGE = 1,
353 }TY_TRIGGER_POL_LIST;
354 typedef int32_t TY_TRIGGER_POL;
355 
357 typedef enum TY_INTERFACE_TYPE_LIST
358 {
359  TY_INTERFACE_UNKNOWN = 0,
360  TY_INTERFACE_RAW = 1,
361  TY_INTERFACE_USB = 2,
362  TY_INTERFACE_ETHERNET = 4,
363  TY_INTERFACE_IEEE80211 = 8,
364  TY_INTERFACE_ALL = 0xffff,
365 }TY_INTERFACE_TYPE_LIST;
366 typedef int32_t TY_INTERFACE_TYPE;
367 
369 typedef enum TY_ACCESS_MODE_LIST
370 {
371  TY_ACCESS_READABLE = 0x1,
372  TY_ACCESS_WRITABLE = 0x2,
373 }TY_ACCESS_MODE_LIST;
374 typedef int8_t TY_ACCESS_MODE;
375 
377 typedef enum TY_STREAM_ASYNC_MODE_LIST
378 {
379  TY_STREAM_ASYNC_OFF = 0,
380  TY_STREAM_ASYNC_DEPTH = 1,
381  TY_STREAM_ASYNC_RGB = 2,
382  TY_STREAM_ASYNC_DEPTH_RGB = 3,
383  TY_STREAM_ASYNC_ALL = 0xff,
384 }TY_STREAM_ASYNC_MODE_LIST;
385 typedef int8_t TY_STREAM_ASYNC_MODE;
386 
387 //------------------------------------------------------------------------------
389 typedef enum TY_PIXEL_BITS_LIST{
390  TY_PIXEL_8BIT = 0x1 << 28,
391  TY_PIXEL_16BIT = 0x2 << 28,
392  TY_PIXEL_24BIT = 0x3 << 28,
393  TY_PIXEL_32BIT = 0x4 << 28,
394 }TY_PIXEL_BITS_LIST;
395 
396 
398 typedef enum TY_PIXEL_FORMAT_LIST{
399  TY_PIXEL_FORMAT_UNDEFINED = 0,
400  TY_PIXEL_FORMAT_MONO = (TY_PIXEL_8BIT | (0x0 << 24)),
401  TY_PIXEL_FORMAT_BAYER8GB = (TY_PIXEL_8BIT | (0x1 << 24)),
402  TY_PIXEL_FORMAT_DEPTH16 = (TY_PIXEL_16BIT | (0x0 << 24)),
403  TY_PIXEL_FORMAT_YVYU = (TY_PIXEL_16BIT | (0x1 << 24)),
404  TY_PIXEL_FORMAT_YUYV = (TY_PIXEL_16BIT | (0x2 << 24)),
405  TY_PIXEL_FORMAT_MONO16 = (TY_PIXEL_16BIT | (0x3 << 24)),
406  TY_PIXEL_FORMAT_RGB = (TY_PIXEL_24BIT | (0x0 << 24)),
407  TY_PIXEL_FORMAT_BGR = (TY_PIXEL_24BIT | (0x1 << 24)),
408  TY_PIXEL_FORMAT_JPEG = (TY_PIXEL_24BIT | (0x2 << 24)),
409  TY_PIXEL_FORMAT_MJPG = (TY_PIXEL_24BIT | (0x3 << 24)),
410 }TY_PIXEL_FORMAT_LIST;
411 typedef int32_t TY_PIXEL_FORMAT;
412 
413 
415 typedef enum TY_RESOLUTION_MODE_LIST
416 {
417  TY_RESOLUTION_MODE_160x100 = (160<<12)+100,
418  TY_RESOLUTION_MODE_160x120 = (160<<12)+120,
419  TY_RESOLUTION_MODE_240x320 = (240<<12)+320,
420  TY_RESOLUTION_MODE_320x180 = (320<<12)+180,
421  TY_RESOLUTION_MODE_320x200 = (320<<12)+200,
422  TY_RESOLUTION_MODE_320x240 = (320<<12)+240,
423  TY_RESOLUTION_MODE_480x640 = (480<<12)+640,
424  TY_RESOLUTION_MODE_640x360 = (640<<12)+360,
425  TY_RESOLUTION_MODE_640x400 = (640<<12)+400,
426  TY_RESOLUTION_MODE_640x480 = (640<<12)+480,
427  TY_RESOLUTION_MODE_960x1280 = (960<<12)+1280,
428  TY_RESOLUTION_MODE_1280x720 = (1280<<12)+720,
429  TY_RESOLUTION_MODE_1280x800 = (1280<<12)+800,
430  TY_RESOLUTION_MODE_1280x960 = (1280<<12)+960,
431  TY_RESOLUTION_MODE_1920x1080 = (1920<<12)+1080,
432  TY_RESOLUTION_MODE_2592x1944 = (2592<<12)+1944,
433 }TY_RESOLUTION_MODE_LIST;
434 typedef int32_t TY_RESOLUTION_MODE;
435 
436 
437 #define TY_DECLARE_IMAGE_MODE0(pix, res) \
438  TY_IMAGE_MODE_##pix##_##res = TY_PIXEL_FORMAT_##pix | TY_RESOLUTION_MODE_##res
439 #define TY_DECLARE_IMAGE_MODE1(pix) \
440  TY_DECLARE_IMAGE_MODE0(pix, 160x100), \
441  TY_DECLARE_IMAGE_MODE0(pix, 160x120), \
442  TY_DECLARE_IMAGE_MODE0(pix, 320x180), \
443  TY_DECLARE_IMAGE_MODE0(pix, 320x200), \
444  TY_DECLARE_IMAGE_MODE0(pix, 320x240), \
445  TY_DECLARE_IMAGE_MODE0(pix, 480x640), \
446  TY_DECLARE_IMAGE_MODE0(pix, 640x360), \
447  TY_DECLARE_IMAGE_MODE0(pix, 640x400), \
448  TY_DECLARE_IMAGE_MODE0(pix, 640x480), \
449  TY_DECLARE_IMAGE_MODE0(pix, 960x1280), \
450  TY_DECLARE_IMAGE_MODE0(pix, 1280x720), \
451  TY_DECLARE_IMAGE_MODE0(pix, 1280x960), \
452  TY_DECLARE_IMAGE_MODE0(pix, 1280x800), \
453  TY_DECLARE_IMAGE_MODE0(pix, 1920x1080), \
454  TY_DECLARE_IMAGE_MODE0(pix, 2592x1944)
455 
456 
460 typedef enum TY_IMAGE_MODE_LIST
461 {
462  TY_DECLARE_IMAGE_MODE1(MONO),
463  TY_DECLARE_IMAGE_MODE1(DEPTH16),
464  TY_DECLARE_IMAGE_MODE1(YVYU),
465  TY_DECLARE_IMAGE_MODE1(YUYV),
466  TY_DECLARE_IMAGE_MODE1(RGB),
467  TY_DECLARE_IMAGE_MODE1(JPEG),
468  TY_DECLARE_IMAGE_MODE1(BAYER8GB)
469 }TY_IMAGE_MODE_LIST;
470 typedef int32_t TY_IMAGE_MODE;
471 #undef TY_DECLARE_IMAGE_MODE0
472 #undef TY_DECLARE_IMAGE_MODE1
473 
475 typedef enum TY_TRIGGER_MODE_LIST
476 {
477  TY_TRIGGER_MODE_OFF = 0,
478  TY_TRIGGER_MODE_SLAVE = 1,
479  TY_TRIGGER_MODE_M_SIG = 2,
480  TY_TRIGGER_MODE_M_PER = 3,
481  TY_TRIGGER_MODE_SIG_PASS = 18,
482  TY_TRIGGER_MODE_PER_PASS = 19,
483  TY_TRIGGER_MODE_TIMER_LIST = 20,
484  TY_TRIGGER_MODE_TIMER_PERIOD= 21,
485  TY_TRIGGER_MODE_PER_PASS2 = 30,
486  TY_TRIGGER_MODE_SIG_LASER = 34,
487 }TY_TRIGGER_MODE_LIST;
488 typedef int16_t TY_TRIGGER_MODE;
489 
491 typedef enum TY_TIME_SYNC_TYPE_LIST
492 {
493  TY_TIME_SYNC_TYPE_NONE = 0,
494  TY_TIME_SYNC_TYPE_HOST = 1,
495  TY_TIME_SYNC_TYPE_NTP = 2,
496  TY_TIME_SYNC_TYPE_PTP = 3,
497  TY_TIME_SYNC_TYPE_CAN = 4,
498  TY_TIME_SYNC_TYPE_PTP_MASTER = 5,
499 }TY_TIME_SYNC_TYPE_LIST;
500 typedef int32_t TY_TIME_SYNC_TYPE;
501 
502 //------------------------------------------------------------------------------
503 // Struct
504 //------------------------------------------------------------------------------
505 typedef struct TY_VERSION_INFO
506 {
507  int32_t major;
508  int32_t minor;
509  int32_t patch;
510  int32_t reserved;
511 }TY_VERSION_INFO;
512 
513 typedef struct TY_DEVICE_NET_INFO
514 {
515  char mac[32];
516  char ip[32];
517  char netmask[32];
518  char gateway[32];
519  char broadcast[32];
520  char reserved[96];
521 }TY_DEVICE_NET_INFO;
522 
523 typedef struct TY_DEVICE_USB_INFO
524 {
525  int bus;
526  int addr;
527  char reserved[248];
528 }TY_DEVICE_USB_INFO;
529 
531 typedef struct TY_INTERFACE_INFO
532 {
533  char name[32];
534  char id[32];
535  TY_INTERFACE_TYPE type;
536  char reserved[4];
537  TY_DEVICE_NET_INFO netInfo; // only meaningful when TYIsNetworkInterface(type)
538 }TY_INTERFACE_INFO;
539 
541 typedef struct TY_DEVICE_BASE_INFO
542 {
543  TY_INTERFACE_INFO iface;
544  char id[32];
545  char vendorName[32];
546  char userDefinedName[32];
547  char modelName[32];
548  TY_VERSION_INFO hardwareVersion;
549  TY_VERSION_INFO firmwareVersion;
550  union {
551  TY_DEVICE_NET_INFO netInfo;
552  TY_DEVICE_USB_INFO usbInfo;
553  };
554  char buildHash[256];
555  char configVersion[256];
556  char reserved[256];
557 }TY_DEVICE_BASE_INFO;
558 
559 typedef struct TY_FEATURE_INFO
560 {
561  bool isValid;
562  TY_ACCESS_MODE accessMode;
563  bool writableAtRun;
564  char reserved0[1];
565  TY_COMPONENT_ID componentID;
566  TY_FEATURE_ID featureID;
567  char name[32];
568  int32_t bindComponentID;
569  int32_t bindFeatureID;
570  char reserved[252];
571 }TY_FEATURE_INFO;
572 
573 typedef struct TY_INT_RANGE
574 {
575  int32_t min;
576  int32_t max;
577  int32_t inc;
578  int32_t reserved[1];
579 }TY_INT_RANGE;
580 
581 typedef struct TY_FLOAT_RANGE
582 {
583  float min;
584  float max;
585  float inc;
586  float reserved[1];
587 }TY_FLOAT_RANGE;
588 
591 typedef struct TY_ENUM_ENTRY
592 {
593  char description[64];
594  int32_t value;
595  int32_t reserved[3];
596 }TY_ENUM_ENTRY;
597 
598 typedef struct TY_VECT_3F
599 {
600  float x;
601  float y;
602  float z;
603 }TY_VECT_3F;
604 
611 typedef struct TY_CAMERA_INTRINSIC
612 {
613  float data[3*3];
614 }TY_CAMERA_INTRINSIC;
615 
623 typedef struct TY_CAMERA_EXTRINSIC
624 {
625  float data[4*4];
626 }TY_CAMERA_EXTRINSIC;
627 
629 typedef struct TY_CAMERA_DISTORTION
630 {
631  float data[12];
632 }TY_CAMERA_DISTORTION;
633 
634 
637 typedef struct TY_CAMERA_CALIB_INFO
638 {
639  int32_t intrinsicWidth;
640  int32_t intrinsicHeight;
641  TY_CAMERA_INTRINSIC intrinsic; // TY_STRUCT_CAM_INTRINSIC
642  TY_CAMERA_EXTRINSIC extrinsic; // TY_STRUCT_EXTRINSIC_TO_LEFT_IR
643  TY_CAMERA_DISTORTION distortion; // TY_STRUCT_CAM_DISTORTION
644 }TY_CAMERA_CALIB_INFO;
645 
646 
647 //@see sample SimpleView_TriggerMode
648 typedef struct TY_TRIGGER_PARAM
649 {
650  TY_TRIGGER_MODE mode;
651  int8_t fps;
652  int8_t rsvd;
653 }TY_TRIGGER_PARAM;
654 
655 //@see sample SimpleView_TriggerMode, only for TY_TRIGGER_MODE_SIG_PASS/TY_TRIGGER_MODE_PER_PASS
656 typedef struct TY_TRIGGER_PARAM_EX
657 {
658  TY_TRIGGER_MODE mode;
659  int8_t fps;
660  int8_t duty;
661  int32_t laser_stream;
662  int32_t led_stream;
663  int32_t led_expo;
664  int32_t led_gain;
665  int32_t rsvd[20];
666 }TY_TRIGGER_PARAM_EX;
667 
668 //@see sample SimpleView_TriggerMode, only for TY_TRIGGER_MODE_TIMER_LIST
669 typedef struct TY_TRIGGER_TIMER_LIST
670 {
671  uint64_t start_time_us; // 0 for disable
672  uint32_t offset_us_count; // length of offset_us_list
673  uint32_t offset_us_list[50]; // used in TY_TRIGGER_MODE_TIMER_LIST mode
674 }TY_TRIGGER_TIMER_LIST;
675 
676 //@see sample SimpleView_TriggerMode, only for TY_TRIGGER_MODE_TIMER_PERIOD
677 typedef struct TY_TRIGGER_TIMER_PERIOD
678 {
679  uint64_t start_time_us; // 0 for disable
680  uint32_t trigger_count;
681  uint32_t period_us; // used in TY_TRIGGER_MODE_TIMER_PERIOD mode
682 }TY_TRIGGER_TIMER_PERIOD;
683 
684 typedef struct TY_AEC_ROI_PARAM
685 {
686  uint32_t x;
687  uint32_t y;
688  uint32_t w;
689  uint32_t h;
690 }TY_AEC_ROI_PARAM;
691 
692 typedef struct TY_CAMERA_STATISTICS
693 {
694  uint64_t packetReceived;
695  uint64_t packetLost;
696  uint64_t imageOutputed;
697  uint64_t imageDropped;
698  uint8_t rsvd[1024];
699 }TY_CAMERA_STATISTICS;
700 
701 typedef struct TY_IMU_DATA
702 {
703  uint64_t timestamp;
704  float acc_x;
705  float acc_y;
706  float acc_z;
707  float gyro_x;
708  float gyro_y;
709  float gyro_z;
710  float temperature;
711  float reserved[1];
712 }TY_IMU_DATA;
713 
718 typedef struct TY_ACC_BIAS
719 {
720  float data[3];
721 }TY_ACC_BIAS;
722 
730 typedef struct TY_ACC_MISALIGNMENT
731 {
732  float data[3 * 3];
733 }TY_ACC_MISALIGNMENT;
734 
741 typedef struct TY_ACC_SCALE
742 {
743  float data[3 * 3];
744 }TY_ACC_SCALE;
745 
750 typedef struct TY_GYRO_BIAS
751 {
752  float data[3];
753 }TY_GYRO_BIAS;
754 
761 typedef struct TY_GYRO_MISALIGNMENT
762 {
763  float data[3 * 3];
764 }TY_GYRO_MISALIGNMENT;
765 
772 typedef struct TY_GYRO_SCALE
773 {
774  float data[3 * 3];
775 }TY_GYRO_SCALE;
776 
784 typedef struct TY_CAMERA_TO_IMU
785 {
786  float data[4 * 4];
787 }TY_CAMERA_TO_IMU;
788 
789 typedef enum TY_IMU_FPS_LIST
790 {
791  TY_IMU_FPS_100HZ = 0,
792  TY_IMU_FPS_200HZ,
793  TY_IMU_FPS_400HZ,
794 }TY_IMU_FPS_LIST;
795 
796 //------------------------------------------------------------------------------
797 // Buffer & Callback
798 //------------------------------------------------------------------------------
799 typedef struct TY_IMAGE_DATA
800 {
801  uint64_t timestamp;
802  int32_t imageIndex;
803  int32_t status;
804  int32_t componentID;
805  int32_t size;
806  void* buffer;
807  int32_t width;
808  int32_t height;
809  int32_t pixelFormat;
810  int32_t reserved[9];
811 }TY_IMAGE_DATA;
812 
813 
814 typedef struct TY_FRAME_DATA
815 {
816  void* userBuffer;
817  int32_t bufferSize;
818  int32_t validCount;
819  int32_t reserved[6];
820  TY_IMAGE_DATA image[10];
821 }TY_FRAME_DATA;
822 
823 
824 typedef struct TY_EVENT_INFO
825 {
826  TY_EVENT eventId;
827  char message[124];
828 }TY_EVENT_INFO;
829 
830 
831 typedef void (*TY_EVENT_CALLBACK) (TY_EVENT_INFO*, void* userdata);
832 typedef void (*TY_IMU_CALLBACK) (TY_IMU_DATA*, void* userdata);
833 
834 
835 //------------------------------------------------------------------------------
836 // inlines
837 //------------------------------------------------------------------------------
838 static inline bool TYIsNetworkInterface(int32_t interfaceType)
839 {
840  return (interfaceType == TY_INTERFACE_ETHERNET) ||
841  (interfaceType == TY_INTERFACE_IEEE80211);
842 }
843 
844 static inline void TYIntToIPv4(uint32_t addr, uint8_t out[4])
845 {
846  out[0] = (addr>>24) & 0xff;
847  out[1] = (addr>>16) & 0xff;
848  out[2] = (addr>>8) & 0xff;
849  out[3] = (addr>>0) & 0xff;
850 }
851 
852 static inline uint32_t TYIPv4ToInt(uint8_t ip[4])
853 {
854  return (ip[0] << 24) | (ip[1] << 16) | (ip[2] << 8) | ip[3];
855 }
856 
858 static inline TY_IMAGE_DATA TYInitImageData(size_t size, void* buffer
859  , size_t width, size_t height)
860 {
861  TY_IMAGE_DATA out;
862  out.timestamp = 0;
863  out.imageIndex = 0;
864  out.status = 0;
865  out.componentID = 0;
866  out.size = size;
867  out.buffer = buffer;
868  out.width = width;
869  out.height = height;
870  out.pixelFormat = 0;
871  return out;
872 }
873 
875 static inline TY_FEATURE_TYPE TYFeatureType(TY_FEATURE_ID id)
876 {
877  return id & 0xf000;
878 }
879 
881 static inline int32_t TYPixelSize(TY_IMAGE_MODE imageMode)
882 {
883  return ((imageMode >> 28) & 0xf);
884 }
885 
887 static inline TY_IMAGE_MODE TYImageMode(TY_PIXEL_FORMAT pix, TY_RESOLUTION_MODE res)
888 {
889  return pix | res;
890 }
891 
893 static inline TY_RESOLUTION_MODE TYResolutionMode2(int width, int height){
894  return (TY_RESOLUTION_MODE)((width << 12) + height);
895 }
896 
898 static inline TY_IMAGE_MODE TYImageMode2(TY_PIXEL_FORMAT pix, int width,int height)
899 {
900  return pix | TYResolutionMode2(width, height);
901 }
902 
904 static inline TY_PIXEL_FORMAT TYPixelFormat(TY_IMAGE_MODE imageMode)
905 {
906  return imageMode & 0xff000000;
907 }
908 
910 static inline TY_RESOLUTION_MODE TYResolutionMode(TY_IMAGE_MODE imageMode)
911 {
912  return imageMode & 0x00ffffff;
913 }
914 
916 static inline int32_t TYImageWidth(TY_IMAGE_MODE imageMode)
917 {
918  return TYResolutionMode(imageMode) >> 12;
919 }
920 
922 static inline int32_t TYImageHeight(TY_IMAGE_MODE imageMode)
923 {
924  return TYResolutionMode(imageMode) & 0x0fff;
925 }
926 
927 //------------------------------------------------------------------------------
928 // C API
929 //------------------------------------------------------------------------------
930 #define TY_CAPI TY_EXTC TY_EXPORT TY_STATUS TY_STDC
931 
932 
936 TY_EXTC TY_EXPORT const char* TY_STDC TYErrorString (TY_STATUS errorID);
937 
938 
947 static inline TY_STATUS TYInitLib (void);
948 
951 TY_CAPI TYDeinitLib (void);
952 
957 TY_CAPI TYLibVersion (TY_VERSION_INFO* version);
958 
959 
964 TY_CAPI TYUpdateInterfaceList ();
965 
971 TY_CAPI TYGetInterfaceNumber (uint32_t* pNumIfaces);
972 
980 TY_CAPI TYGetInterfaceList (TY_INTERFACE_INFO* pIfaceInfos, uint32_t bufferCount, uint32_t* filledCount);
981 
989 TY_CAPI TYHasInterface (const char* ifaceID, bool* value);
990 
999 TY_CAPI TYOpenInterface (const char* ifaceID, TY_INTERFACE_HANDLE* outHandle);
1000 
1006 TY_CAPI TYCloseInterface (TY_INTERFACE_HANDLE ifaceHandle);
1007 
1008 
1014 TY_CAPI TYUpdateDeviceList (TY_INTERFACE_HANDLE ifaceHandle);
1015 
1019 TY_CAPI TYUpdateAllDeviceList();
1020 
1028 TY_CAPI TYGetDeviceNumber (TY_INTERFACE_HANDLE ifaceHandle, uint32_t* deviceNumber);
1029 
1039 TY_CAPI TYGetDeviceList (TY_INTERFACE_HANDLE ifaceHandle, TY_DEVICE_BASE_INFO* deviceInfos, uint32_t bufferCount, uint32_t* filledDeviceCount);
1040 
1049 TY_CAPI TYHasDevice (TY_INTERFACE_HANDLE ifaceHandle, const char* deviceID, bool* value);
1050 
1063 TY_CAPI TYOpenDevice (TY_INTERFACE_HANDLE ifaceHandle, const char* deviceID, TY_DEV_HANDLE* outDeviceHandle, TY_FW_ERRORCODE* outFwErrorcode=NULL);
1064 
1076 TY_CAPI TYOpenDeviceWithIP (TY_INTERFACE_HANDLE ifaceHandle, const char* IP, TY_DEV_HANDLE* deviceHandle);
1077 
1084 TY_CAPI TYGetDeviceInterface (TY_DEV_HANDLE hDevice, TY_INTERFACE_HANDLE* pIface);
1085 
1100 TY_CAPI TYForceDeviceIP (TY_INTERFACE_HANDLE ifaceHandle, const char* MAC, const char* newIP, const char* newNetMask, const char* newGateway);
1101 
1107 TY_CAPI TYCloseDevice (TY_DEV_HANDLE hDevice, bool reboot=false);
1108 
1109 
1116 TY_CAPI TYGetDeviceInfo (TY_DEV_HANDLE hDevice, TY_DEVICE_BASE_INFO* info);
1117 
1125 TY_CAPI TYGetComponentIDs (TY_DEV_HANDLE hDevice, int32_t* componentIDs);
1126 
1134 TY_CAPI TYGetEnabledComponents (TY_DEV_HANDLE hDevice, int32_t* componentIDs);
1135 
1143 TY_CAPI TYEnableComponents (TY_DEV_HANDLE hDevice, int32_t componentIDs);
1144 
1153 TY_CAPI TYDisableComponents (TY_DEV_HANDLE hDevice, int32_t componentIDs);
1154 
1155 
1156 
1163 TY_CAPI TYGetFrameBufferSize (TY_DEV_HANDLE hDevice, uint32_t* bufferSize);
1164 
1173 TY_CAPI TYEnqueueBuffer (TY_DEV_HANDLE hDevice, void* buffer, uint32_t bufferSize);
1174 
1180 TY_CAPI TYClearBufferQueue (TY_DEV_HANDLE hDevice);
1181 
1182 
1183 
1191 TY_CAPI TYStartCapture (TY_DEV_HANDLE hDevice);
1192 
1199 TY_CAPI TYStopCapture (TY_DEV_HANDLE hDevice);
1200 
1208 TY_CAPI TYSendSoftTrigger (TY_DEV_HANDLE hDevice);
1209 
1217 TY_CAPI TYRegisterEventCallback (TY_DEV_HANDLE hDevice, TY_EVENT_CALLBACK callback, void* userdata);
1218 
1226 TY_CAPI TYRegisterImuCallback (TY_DEV_HANDLE hDevice, TY_IMU_CALLBACK callback, void* userdata);
1227 
1238 TY_CAPI TYFetchFrame (TY_DEV_HANDLE hDevice, TY_FRAME_DATA* frame, int32_t timeout);
1239 
1240 
1250 TY_CAPI TYHasFeature (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool* value);
1251 
1261 TY_CAPI TYGetFeatureInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FEATURE_INFO* featureInfo);
1262 
1263 
1264 
1276 TY_CAPI TYGetIntRange (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_INT_RANGE* intRange);
1277 
1289 TY_CAPI TYGetInt (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t* value);
1290 
1304 TY_CAPI TYSetInt (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value);
1305 
1317 TY_CAPI TYGetFloatRange (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FLOAT_RANGE* floatRange);
1318 
1330 TY_CAPI TYGetFloat (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float* value);
1331 
1345 TY_CAPI TYSetFloat (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float value);
1346 
1358 TY_CAPI TYGetEnumEntryCount (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* entryCount);
1359 
1373 TY_CAPI TYGetEnumEntryInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_ENUM_ENTRY* entries, uint32_t entryCount, uint32_t* filledEntryCount);
1374 
1386 TY_CAPI TYGetEnum (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t* value);
1387 
1401 TY_CAPI TYSetEnum (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value);
1402 
1414 TY_CAPI TYGetBool (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool* value);
1415 
1428 TY_CAPI TYSetBool (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool value);
1429 
1442 TY_CAPI TYGetStringLength (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* size);
1443 
1457 TY_CAPI TYGetString (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, char* buffer, uint32_t bufferSize);
1458 
1473 TY_CAPI TYSetString (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const char* buffer);
1474 
1488 TY_CAPI TYGetStruct (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void* pStruct, uint32_t structSize);
1489 
1505 TY_CAPI TYSetStruct (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void* pStruct, uint32_t structSize);
1506 
1518 TY_CAPI TYGetByteArraySize (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* pSize);
1519 
1533 TY_CAPI TYGetByteArray (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint8_t* pBuffer, uint32_t bufferSize);
1534 
1550 TY_CAPI TYSetByteArray (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const uint8_t* pBuffer, uint32_t bufferSize);
1551 
1552 //------------------------------------------------------------------------------
1553 // Version check
1554 //------------------------------------------------------------------------------
1555 TY_CAPI _TYInitLib(void);
1556 static inline TY_STATUS TYInitLib(void)
1557 {
1558  TY_VERSION_INFO soVersion;
1559  TYLibVersion(&soVersion);
1560  if(!(soVersion.major == TY_LIB_VERSION_MAJOR && soVersion.minor >= TY_LIB_VERSION_MINOR)){
1561  abort(); // generate fault directly
1562  }
1563  return _TYInitLib();
1564 }
1565 
1566 //------------------------------------------------------------------------------
1567 // Summary
1568 //------------------------------------------------------------------------------
1569 TY_EXTC TY_EXPORT const char* TY_STDC TYErrorString (TY_STATUS errorID);
1570 
1571 inline TY_STATUS TYInitLib (void);
1572 TY_CAPI TYDeinitLib (void);
1573 TY_CAPI TYLibVersion (TY_VERSION_INFO* version);
1574 
1575 TY_CAPI TYUpdateInterfaceList ();
1576 TY_CAPI TYGetInterfaceNumber (uint32_t* pNumIfaces);
1577 TY_CAPI TYGetInterfaceList (TY_INTERFACE_INFO* pIfaceInfos, uint32_t bufferCount, uint32_t* filledCount);
1578 TY_CAPI TYHasInterface (const char* ifaceID, bool* value);
1579 TY_CAPI TYOpenInterface (const char* ifaceID, TY_INTERFACE_HANDLE* outHandle);
1580 TY_CAPI TYCloseInterface (TY_INTERFACE_HANDLE ifaceHandle);
1581 
1582 TY_CAPI TYUpdateDeviceList (TY_INTERFACE_HANDLE ifaceHandle);
1583 TY_CAPI TYGetDeviceNumber (TY_INTERFACE_HANDLE ifaceHandle, uint32_t* deviceNumber);
1584 TY_CAPI TYGetDeviceList (TY_INTERFACE_HANDLE ifaceHandle, TY_DEVICE_BASE_INFO* deviceInfos, uint32_t bufferCount, uint32_t* filledDeviceCount);
1585 TY_CAPI TYHasDevice (TY_INTERFACE_HANDLE ifaceHandle, const char* deviceID, bool* value);
1586 TY_CAPI TYOpenDevice (TY_INTERFACE_HANDLE ifaceHandle, const char* deviceID, TY_DEV_HANDLE* outDeviceHandle, TY_FW_ERRORCODE* outFwErrorcode);
1587 TY_CAPI TYOpenDeviceWithIP (TY_INTERFACE_HANDLE ifaceHandle, const char* IP, TY_DEV_HANDLE* deviceHandle);
1588 TY_CAPI TYGetDeviceInterface (TY_DEV_HANDLE hDevice, TY_INTERFACE_HANDLE* pIface);
1589 TY_CAPI TYForceDeviceIP (TY_INTERFACE_HANDLE ifaceHandle, const char* MAC, const char* newIP, const char* newNetMask, const char* newGateway);
1590 TY_CAPI TYCloseDevice (TY_DEV_HANDLE hDevice, bool reboot);
1591 
1592 TY_CAPI TYGetDeviceInfo (TY_DEV_HANDLE hDevice, TY_DEVICE_BASE_INFO* info);
1593 TY_CAPI TYGetComponentIDs (TY_DEV_HANDLE hDevice, int32_t* componentIDs);
1594 TY_CAPI TYGetEnabledComponents (TY_DEV_HANDLE hDevice, int32_t* componentIDs);
1595 TY_CAPI TYEnableComponents (TY_DEV_HANDLE hDevice, int32_t componentIDs);
1596 TY_CAPI TYDisableComponents (TY_DEV_HANDLE hDevice, int32_t componentIDs);
1597 
1598 TY_CAPI TYGetFrameBufferSize (TY_DEV_HANDLE hDevice, uint32_t* outSize);
1599 TY_CAPI TYEnqueueBuffer (TY_DEV_HANDLE hDevice, void* buffer, uint32_t bufferSize);
1600 TY_CAPI TYClearBufferQueue (TY_DEV_HANDLE hDevice);
1601 
1602 TY_CAPI TYStartCapture (TY_DEV_HANDLE hDevice);
1603 TY_CAPI TYStopCapture (TY_DEV_HANDLE hDevice);
1604 TY_CAPI TYSendSoftTrigger (TY_DEV_HANDLE hDevice);
1605 TY_CAPI TYRegisterEventCallback (TY_DEV_HANDLE hDevice, TY_EVENT_CALLBACK callback, void* userdata);
1606 TY_CAPI TYRegisterImuCallback (TY_DEV_HANDLE hDevice, TY_IMU_CALLBACK callback, void* userdata);
1607 TY_CAPI TYFetchFrame (TY_DEV_HANDLE hDevice, TY_FRAME_DATA* frame, int32_t timeout);
1608 
1609 TY_CAPI TYHasFeature (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool* value);
1610 TY_CAPI TYGetFeatureInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FEATURE_INFO* featureInfo);
1611 TY_CAPI TYGetIntRange (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_INT_RANGE* intRange);
1612 TY_CAPI TYGetInt (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t* value);
1613 TY_CAPI TYSetInt (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value);
1614 TY_CAPI TYGetFloatRange (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FLOAT_RANGE* floatRange);
1615 TY_CAPI TYGetFloat (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float* value);
1616 TY_CAPI TYSetFloat (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float value);
1617 TY_CAPI TYGetEnumEntryCount (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* entryCount);
1618 TY_CAPI TYGetEnumEntryInfo (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_ENUM_ENTRY* entries, uint32_t entryCount, uint32_t* filledEntryCount);
1619 TY_CAPI TYGetEnum (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t* value);
1620 TY_CAPI TYSetEnum (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value);
1621 TY_CAPI TYGetBool (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool* value);
1622 TY_CAPI TYSetBool (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool value);
1623 TY_CAPI TYGetStringLength (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* length);
1624 TY_CAPI TYGetString (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, char* buffer, uint32_t bufferSize);
1625 TY_CAPI TYSetString (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const char* buffer);
1626 TY_CAPI TYGetStruct (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void* pStruct, uint32_t structSize);
1627 TY_CAPI TYSetStruct (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void* pStruct, uint32_t structSize);
1628 TY_CAPI TYGetByteArraySize (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t* pSize);
1629 TY_CAPI TYGetByteArray (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint8_t* pBuffer, uint32_t bufferSize);
1630 TY_CAPI TYSetByteArray (TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const uint8_t* pBuffer, uint32_t bufferSize);
1631 
1632 
1633 #endif // TY_API_H_
TYSetBool
TY_CAPI TYSetBool(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool value)
Set value of bool feature.
TYHasDevice
TY_CAPI TYHasDevice(TY_INTERFACE_HANDLE ifaceHandle, const char *deviceID, bool *value)
Check whether the interface has the specified device.
-
TY_FRAME_DATA::validCount
int32_t validCount
Number of valid data.
Definition: TYApi.h:822
-
TY_ENUM_STREAM_ASYNC
stream async switch, see TY_STREAM_ASYNC_MODE
Definition: TYApi.h:275
- -
TY_INT_R_GAIN
Gain of R channel.
Definition: TYApi.h:296
+
TY_ENUM_STREAM_ASYNC
stream async switch, see TY_STREAM_ASYNC_MODE
Definition: TYApi.h:299
+
TY_IMAGE_DATA::timestamp
uint64_t timestamp
Timestamp in microseconds.
Definition: TYApi.h:801
+ +
TY_INT_R_GAIN
Gain of R channel.
Definition: TYApi.h:320
TYRegisterImuCallback
TY_CAPI TYRegisterImuCallback(TY_DEV_HANDLE hDevice, TY_IMU_CALLBACK callback, void *userdata)
Register imu callback. Register NULL to clean callback.
-
TY_STATUS_LIST
TY_STATUS_LIST
API call return status.
Definition: TYApi.h:123
-
TY_IMAGE_DATA::width
int32_t width
Image width in pixels.
Definition: TYApi.h:811
-
TY_DEVICE_BASE_INFO::hardwareVersion
TY_VERSION_INFO hardwareVersion
deprecated
Definition: TYApi.h:533
-
TY_COMPONENT_ID
int32_t TY_COMPONENT_ID
component unique id
Definition: TYApi.h:211
-
TY_IMAGE_DATA::pixelFormat
int32_t pixelFormat
Pixel format, see TY_PIXEL_FORMAT_LIST.
Definition: TYApi.h:813
+
TY_STATUS_LIST
TY_STATUS_LIST
API call return status.
Definition: TYApi.h:147
+
TY_DEVICE_BASE_INFO::hardwareVersion
TY_VERSION_INFO hardwareVersion
deprecated
Definition: TYApi.h:548
+
TY_COMPONENT_ID
int32_t TY_COMPONENT_ID
component unique id
Definition: TYApi.h:235
TYSetByteArray
TY_CAPI TYSetByteArray(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const uint8_t *pBuffer, uint32_t bufferSize)
Write byte array to device.
+
TYGetByteArray
TY_CAPI TYGetByteArray(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint8_t *pBuffer, uint32_t bufferSize)
Read byte array from device.
-
TY_IMAGE_DATA::componentID
int32_t componentID
Where current data come from.
Definition: TYApi.h:808
-
TY_INT_B_GAIN
Gain of B channel.
Definition: TYApi.h:298
-
TY_BOOL_AUTO_AWB
Auto white balance.
Definition: TYApi.h:286
-
TY_INT_EXPOSURE_TIME
Exposure time in percentage.
Definition: TYApi.h:283
+
TY_INT_B_GAIN
Gain of B channel.
Definition: TYApi.h:322
+
TY_BOOL_AUTO_AWB
Auto white balance.
Definition: TYApi.h:310
+
TY_INT_EXPOSURE_TIME
Exposure time in percentage.
Definition: TYApi.h:307
TYCloseInterface
TY_CAPI TYCloseInterface(TY_INTERFACE_HANDLE ifaceHandle)
Close interface.
-
TY_INT_HEIGHT
Image height.
Definition: TYApi.h:255
-
TY_DEV_HANDLE
void * TY_DEV_HANDLE
Device Handle.
Definition: TYApi.h:189
+
TY_INT_HEIGHT
Image height.
Definition: TYApi.h:279
+
TY_DEV_HANDLE
void * TY_DEV_HANDLE
Device Handle.
Definition: TYApi.h:213
TYGetEnumEntryInfo
TY_CAPI TYGetEnumEntryInfo(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_ENUM_ENTRY *entries, uint32_t entryCount, uint32_t *filledEntryCount)
Get list of enum entries.
TYGetStruct
TY_CAPI TYGetStruct(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void *pStruct, uint32_t structSize)
Get value of struct.
- -
TY_FRAME_DATA::userBuffer
void * userBuffer
Pointer to user enqueued buffer, user should enqueue this buffer in the end of callback.
Definition: TYApi.h:820
- -
TY_DEVICE_BASE_INFO::firmwareVersion
TY_VERSION_INFO firmwareVersion
deprecated
Definition: TYApi.h:534
-
TY_FEATURE_INFO::isValid
bool isValid
true if feature exists, false otherwise
Definition: TYApi.h:546
+ + +
TY_DEVICE_BASE_INFO::firmwareVersion
TY_VERSION_INFO firmwareVersion
deprecated
Definition: TYApi.h:549
+
TY_FEATURE_INFO::isValid
bool isValid
true if feature exists, false otherwise
Definition: TYApi.h:561
TYSetStruct
TY_CAPI TYSetStruct(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void *pStruct, uint32_t structSize)
Set value of struct.
-
TY_IMAGE_DATA::status
int32_t status
Status of this buffer.
Definition: TYApi.h:807
TYGetDeviceInterface
TY_CAPI TYGetDeviceInterface(TY_DEV_HANDLE hDevice, TY_INTERFACE_HANDLE *pIface)
Get interface handle by device handle.
TYEnableComponents
TY_CAPI TYEnableComponents(TY_DEV_HANDLE hDevice, int32_t componentIDs)
Enable components.
TYUpdateDeviceList
TY_CAPI TYUpdateDeviceList(TY_INTERFACE_HANDLE ifaceHandle)
Update current connected devices.
TY_CAMERA_EXTRINSIC
struct TY_CAMERA_EXTRINSIC TY_CAMERA_EXTRINSIC
-
TY_ENUM_TIME_SYNC_TYPE
see TY_TIME_SYNC_TYPE
Definition: TYApi.h:277
-
TY_BOOL_AUTO_GAIN
Auto gain switch.
Definition: TYApi.h:284
-
TY_FRAME_DATA::image
TY_IMAGE_DATA image[10]
Buffer data, max to 10 images per frame, each buffer data could be an image or something else...
Definition: TYApi.h:824
+
TY_ENUM_TIME_SYNC_TYPE
see TY_TIME_SYNC_TYPE
Definition: TYApi.h:301
+
TY_BOOL_AUTO_GAIN
Auto gain switch.
Definition: TYApi.h:308
TY_CAMERA_INTRINSIC
struct TY_CAMERA_INTRINSIC TY_CAMERA_INTRINSIC
- -
TY_INT_PACKET_DELAY
microseconds
Definition: TYApi.h:244
-
TY_BOOL_DEPTH_POSTPROC
Do depth image postproc.
Definition: TYApi.h:294
-
TY_BOOL_CMOS_SYNC
Cmos sync switch.
Definition: TYApi.h:271
-
TY_STREAM_ASYNC_MODE_LIST
TY_STREAM_ASYNC_MODE_LIST
stream async mode
Definition: TYApi.h:355
+ +
TY_INT_PACKET_DELAY
microseconds
Definition: TYApi.h:268
+
TY_BOOL_DEPTH_POSTPROC
Do depth image postproc.
Definition: TYApi.h:318
+
TY_BOOL_CMOS_SYNC
Cmos sync switch.
Definition: TYApi.h:295
+
TY_STREAM_ASYNC_MODE_LIST
TY_STREAM_ASYNC_MODE_LIST
stream async mode
Definition: TYApi.h:377
TYOpenInterface
TY_CAPI TYOpenInterface(const char *ifaceID, TY_INTERFACE_HANDLE *outHandle)
Open specified interface.
TYSetFloat
TY_CAPI TYSetFloat(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float value)
Set value of float feature.
-
TY_PIXEL_FORMAT_LIST
TY_PIXEL_FORMAT_LIST
pixel format definitions
Definition: TYApi.h:376
+
TY_PIXEL_FORMAT_LIST
TY_PIXEL_FORMAT_LIST
pixel format definitions
Definition: TYApi.h:398
TYSetInt
TY_CAPI TYSetInt(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value)
Set value of integer feature.
-
TY_STRUCT_IMU_CAM_TO_IMU
IMU camera to imu matrix, see TY_CAMERA_TO_IMU.
Definition: TYApi.h:311
-
TY_ENUM_IMAGE_MODE
Resolution-PixelFromat mode, see TY_IMAGE_MODE_LIST.
Definition: TYApi.h:256
- -
TY_FLOAT_RANGE::inc
float inc
increaing step
Definition: TYApi.h:570
+
TY_STRUCT_IMU_CAM_TO_IMU
IMU camera to imu matrix, see TY_CAMERA_TO_IMU.
Definition: TYApi.h:333
+
TY_ENUM_IMAGE_MODE
Resolution-PixelFromat mode, see TY_IMAGE_MODE_LIST.
Definition: TYApi.h:280
+ +
TY_IMAGE_DATA::componentID
int32_t componentID
Where current data come from.
Definition: TYApi.h:804
+
TY_FLOAT_RANGE::inc
float inc
increaing step
Definition: TYApi.h:585
TYHasFeature
TY_CAPI TYHasFeature(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool *value)
Check whether a component has a specific feature.
-
TY_INT_G_GAIN
Gain of G channel.
Definition: TYApi.h:297
- - - +
TY_INT_G_GAIN
Gain of G channel.
Definition: TYApi.h:321
+ +
TY_FRAME_DATA::bufferSize
int32_t bufferSize
Size of userBuffer.
Definition: TYApi.h:817
+ +
TYEnqueueBuffer
TY_CAPI TYEnqueueBuffer(TY_DEV_HANDLE hDevice, void *buffer, uint32_t bufferSize)
Enqueue a user allocated buffer.
-
TY_STRUCT_IMU_GYRO_SCALE
IMU gyro scale matrix, see TY_GYRO_SCALE.
Definition: TYApi.h:310
-
TY_INTERFACE_TYPE_LIST
TY_INTERFACE_TYPE_LIST
interface type definition
Definition: TYApi.h:335
- +
TY_STRUCT_IMU_GYRO_SCALE
IMU gyro scale matrix, see TY_GYRO_SCALE.
Definition: TYApi.h:332
+
TY_INTERFACE_TYPE_LIST
TY_INTERFACE_TYPE_LIST
interface type definition
Definition: TYApi.h:357
+
TY_CAMERA_DISTORTION::data
float data[12]
Definition is compatible with opencv3.0+ :k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4.
Definition: TYApi.h:631
+
TYGetComponentIDs
TY_CAPI TYGetComponentIDs(TY_DEV_HANDLE hDevice, int32_t *componentIDs)
Get all components IDs.
TYDisableComponents
TY_CAPI TYDisableComponents(TY_DEV_HANDLE hDevice, int32_t componentIDs)
Disable components.
- -
TY_COMPONENT_DEPTH_CAM
Depth camera.
Definition: TYApi.h:199
-
TY_RESOLUTION_MODE_LIST
TY_RESOLUTION_MODE_LIST
predefined resolution list
Definition: TYApi.h:396
+ +
TY_COMPONENT_DEPTH_CAM
Depth camera.
Definition: TYApi.h:223
+
TY_RESOLUTION_MODE_LIST
TY_RESOLUTION_MODE_LIST
predefined resolution list
Definition: TYApi.h:415
TYSetEnum
TY_CAPI TYSetEnum(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value)
Set value of enum feature.
- -
TY_FEATURE_ID
int32_t TY_FEATURE_ID
feature unique id
Definition: TYApi.h:316
-
TY_BOOL_TRIGGER_OUT_IO
Trigger out IO.
Definition: TYApi.h:273
-
TY_INT_ANALOG_GAIN
Analog gain.
Definition: TYApi.h:300
+ +
TY_IMAGE_DATA::pixelFormat
int32_t pixelFormat
Pixel format, see TY_PIXEL_FORMAT_LIST.
Definition: TYApi.h:809
+
TY_FRAME_DATA::validCount
int32_t validCount
Number of valid data.
Definition: TYApi.h:818
+
TY_FEATURE_ID
int32_t TY_FEATURE_ID
feature unique id
Definition: TYApi.h:338
+
TY_BOOL_TRIGGER_OUT_IO
Trigger out IO.
Definition: TYApi.h:297
+
TY_INT_ANALOG_GAIN
Analog gain.
Definition: TYApi.h:324
TY_CAMERA_CALIB_INFO
struct TY_CAMERA_CALIB_INFO TY_CAMERA_CALIB_INFO
-
TY_FEATURE_INFO::writableAtRun
bool writableAtRun
feature can be written while capturing
Definition: TYApi.h:548
+
TY_FEATURE_INFO::writableAtRun
bool writableAtRun
feature can be written while capturing
Definition: TYApi.h:563
TYClearBufferQueue
TY_CAPI TYClearBufferQueue(TY_DEV_HANDLE hDevice)
Clear the internal buffer queue, so that user can release all the buffer.
TYGetInt
TY_CAPI TYGetInt(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t *value)
Get value of integer feature.
TYGetEnum
TY_CAPI TYGetEnum(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t *value)
Get current value of enum feature.
-
TY_STRUCT_CAM_STATISTICS
statistical information, see TY_CAMERA_STATISTICS
Definition: TYApi.h:248
-
TY_TRIGGER_MODE_OFF
not trigger mode, continuous mode
Definition: TYApi.h:461
+
TY_STRUCT_CAM_STATISTICS
statistical information, see TY_CAMERA_STATISTICS
Definition: TYApi.h:272
+
TY_TRIGGER_MODE_OFF
not trigger mode, continuous mode
Definition: TYApi.h:477
TYGetInterfaceList
TY_CAPI TYGetInterfaceList(TY_INTERFACE_INFO *pIfaceInfos, uint32_t bufferCount, uint32_t *filledCount)
Get interface info list.
-
TY_PIXEL_FORMAT_BGR
0x31000000
Definition: TYApi.h:388
-
TY_INTERFACE_HANDLE
void * TY_INTERFACE_HANDLE
Interface handle.
Definition: TYApi.h:188
+
TY_PIXEL_FORMAT_BGR
0x31000000
Definition: TYApi.h:407
+
TY_INTERFACE_HANDLE
void * TY_INTERFACE_HANDLE
Interface handle.
Definition: TYApi.h:212
TY_GYRO_MISALIGNMENT
struct TY_GYRO_MISALIGNMENT TY_GYRO_MISALIGNMENT
-
TY_PIXEL_FORMAT_YVYU
0x21000000, yvyu422
Definition: TYApi.h:384
-
TY_INT_TRIGGER_DURATION_US
Trigger duration time, in microseconds.
Definition: TYApi.h:274
+
TY_PIXEL_FORMAT_YVYU
0x21000000, yvyu422
Definition: TYApi.h:403
+
TY_INT_TRIGGER_DURATION_US
Trigger duration time, in microseconds.
Definition: TYApi.h:298
TYGetFrameBufferSize
TY_CAPI TYGetFrameBufferSize(TY_DEV_HANDLE hDevice, uint32_t *bufferSize)
Get total buffer size of one frame in current configuration.
- -
TY_STRUCT_EXTRINSIC_TO_DEPTH
extrinsic between depth cam and current component , see TY_CAMERA_EXTRINSIC
Definition: TYApi.h:233
+ +
TY_STRUCT_EXTRINSIC_TO_DEPTH
extrinsic between depth cam and current component , see TY_CAMERA_EXTRINSIC
Definition: TYApi.h:257
TYForceDeviceIP
TY_CAPI TYForceDeviceIP(TY_INTERFACE_HANDLE ifaceHandle, const char *MAC, const char *newIP, const char *newNetMask, const char *newGateway)
Force a ethernet device to use new IP address, useful when device use persistent IP and cannot be fou...
-
TY_STRUCT_TRIGGER_PARAM
param of trigger, see TY_TRIGGER_PARAM
Definition: TYApi.h:265
- +
TY_STRUCT_TRIGGER_PARAM
param of trigger, see TY_TRIGGER_PARAM
Definition: TYApi.h:289
+
TYGetByteArraySize
TY_CAPI TYGetByteArraySize(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t *pSize)
Get the size of specified byte array zone .
-
TY_ENUM_DEPTH_QUALITY
the quality of generated depth, see TY_DEPTH_QUALITY
Definition: TYApi.h:314
-
TY_STRUCT_AEC_ROI
region of aec statistics, see TY_AEC_ROI_PARAM
Definition: TYApi.h:287
-
TY_BOOL_UNDISTORTION
Output undistorted image.
Definition: TYApi.h:292
+
TY_ENUM_DEPTH_QUALITY
the quality of generated depth, see TY_DEPTH_QUALITY
Definition: TYApi.h:336
+
TY_STRUCT_AEC_ROI
region of aec statistics, see TY_AEC_ROI_PARAM
Definition: TYApi.h:311
+
TY_BOOL_UNDISTORTION
Output undistorted image.
Definition: TYApi.h:316
TYGetStringLength
TY_CAPI TYGetStringLength(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t *size)
Get internal buffer size of string feature.
-
TY_INT_CAPTURE_TIME_US
capture time in multi-ir
Definition: TYApi.h:276
-
TY_STRUCT_CAM_CALIB_DATA
see TY_CAMERA_CALIB_INFO
Definition: TYApi.h:236
+
TY_IMAGE_DATA::reserved
int32_t reserved[9]
Reserved.
Definition: TYApi.h:810
+
TY_INT_CAPTURE_TIME_US
capture time in multi-ir
Definition: TYApi.h:300
+
TY_STRUCT_CAM_CALIB_DATA
see TY_CAMERA_CALIB_INFO
Definition: TYApi.h:260
TYRegisterEventCallback
TY_CAPI TYRegisterEventCallback(TY_DEV_HANDLE hDevice, TY_EVENT_CALLBACK callback, void *userdata)
Register device status callback. Register NULL to clean callback.
-
TY_FEATURE_INFO::bindFeatureID
int32_t bindFeatureID
feature ID current feature bind to
Definition: TYApi.h:554
-
TY_IMAGE_DATA::height
int32_t height
Image height in pixels.
Definition: TYApi.h:812
-
TY_BYTEARRAY_ISP_BLOCK
used for reading/writing fpn block
Definition: TYApi.h:238
-
TY_ENUM_IMU_FPS
IMU fps, see TY_IMU_FPS_LIST.
Definition: TYApi.h:312
-
TY_TIME_SYNC_TYPE_LIST
TY_TIME_SYNC_TYPE_LIST
type of time sync
Definition: TYApi.h:476
-
TY_INT_GAIN
Sensor Gain.
Definition: TYApi.h:285
-
TY_COMPONENT_DEVICE
Abstract component stands for whole device, always enabled.
Definition: TYApi.h:198
-
TY_IMAGE_DATA::size
int32_t size
Buffer size.
Definition: TYApi.h:809
- +
TY_FEATURE_INFO::bindFeatureID
int32_t bindFeatureID
feature ID current feature bind to
Definition: TYApi.h:569
+
TY_BYTEARRAY_ISP_BLOCK
used for reading/writing fpn block
Definition: TYApi.h:262
+
TY_ENUM_IMU_FPS
IMU fps, see TY_IMU_FPS_LIST.
Definition: TYApi.h:334
+
TY_TIME_SYNC_TYPE_LIST
TY_TIME_SYNC_TYPE_LIST
type of time sync
Definition: TYApi.h:491
+
TY_INT_GAIN
Sensor Gain.
Definition: TYApi.h:309
+
TY_COMPONENT_DEVICE
Abstract component stands for whole device, always enabled.
Definition: TYApi.h:222
+
TY_IMAGE_DATA::width
int32_t width
Image width in pixels.
Definition: TYApi.h:807
+
TYFetchFrame
TY_CAPI TYFetchFrame(TY_DEV_HANDLE hDevice, TY_FRAME_DATA *frame, int32_t timeout)
Fetch one frame.
- +
TY_GYRO_BIAS
struct TY_GYRO_BIAS TY_GYRO_BIAS
- +
TYStopCapture
TY_CAPI TYStopCapture(TY_DEV_HANDLE hDevice)
Stop capture.
TY_ENUM_ENTRY
struct TY_ENUM_ENTRY TY_ENUM_ENTRY
-
TYGetByteArrayAttr
TY_CAPI TYGetByteArrayAttr(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_BYTEARRAY_ATTR *pAttr)
Write byte array to device.
- -
TY_PIXEL_FORMAT_YUYV
0x22000000, yuyv422
Definition: TYApi.h:385
-
TY_PIXEL_FORMAT_DEPTH16
0x20000000
Definition: TYApi.h:383
-
TY_ACCESS_MODE_LIST
TY_ACCESS_MODE_LIST
a feature is readable or writable
Definition: TYApi.h:347
-
TY_BOOL_BRIGHTNESS_HISTOGRAM
Output bright histogram.
Definition: TYApi.h:293
-
TY_BYTEARRAY_CUSTOM_BLOCK
used for reading/writing custom block
Definition: TYApi.h:237
-
TY_DEVICE_COMPONENT_LIST
TY_DEVICE_COMPONENT_LIST
Definition: TYApi.h:196
+ +
TY_IMAGE_DATA::imageIndex
int32_t imageIndex
image index used in trigger mode
Definition: TYApi.h:802
+
TY_PIXEL_FORMAT_YUYV
0x22000000, yuyv422
Definition: TYApi.h:404
+
TY_PIXEL_FORMAT_DEPTH16
0x20000000
Definition: TYApi.h:402
+
TY_ACCESS_MODE_LIST
TY_ACCESS_MODE_LIST
a feature is readable or writable
Definition: TYApi.h:369
+
TY_BOOL_BRIGHTNESS_HISTOGRAM
Output bright histogram.
Definition: TYApi.h:317
+
TY_BYTEARRAY_CUSTOM_BLOCK
used for reading/writing custom block
Definition: TYApi.h:261
+
TY_DEVICE_COMPONENT_LIST
TY_DEVICE_COMPONENT_LIST
Definition: TYApi.h:220
TY_INTERFACE_INFO
struct TY_INTERFACE_INFO TY_INTERFACE_INFO
-
TY_FRAME_DATA::bufferSize
int32_t bufferSize
Size of userBuffer.
Definition: TYApi.h:821
-
TY_BOOL_IMU_DATA_ONOFF
IMU Data Onoff.
Definition: TYApi.h:304
+
TY_BOOL_IMU_DATA_ONOFF
IMU Data Onoff.
Definition: TYApi.h:326
TYStartCapture
TY_CAPI TYStartCapture(TY_DEV_HANDLE hDevice)
Start capture.
TYGetFloatRange
TY_CAPI TYGetFloatRange(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FLOAT_RANGE *floatRange)
Get value range of float feature.
-
TY_COMPONENT_IMU
Inertial Measurement Unit.
Definition: TYApi.h:205
+
TY_COMPONENT_IMU
Inertial Measurement Unit.
Definition: TYApi.h:229
TYUpdateInterfaceList
TY_CAPI TYUpdateInterfaceList()
Update current interfaces. call before TYGetInterfaceList.
-
TY_IMAGE_DATA::timestamp
uint64_t timestamp
Timestamp in microseconds.
Definition: TYApi.h:805
-
TY_TRIGGER_MODE_LIST
TY_TRIGGER_MODE_LIST
Definition: TYApi.h:459
-
TY_INT_KEEP_ALIVE_TIMEOUT
Keep Alive timeout.
Definition: TYApi.h:270
- -
TY_STRUCT_IMU_ACC_BIAS
IMU acc bias matrix, see TY_ACC_BIAS.
Definition: TYApi.h:305
+
TY_TRIGGER_MODE_LIST
TY_TRIGGER_MODE_LIST
Definition: TYApi.h:475
+
TY_INT_KEEP_ALIVE_TIMEOUT
Keep Alive timeout.
Definition: TYApi.h:294
+ +
TY_STRUCT_IMU_ACC_BIAS
IMU acc bias matrix, see TY_ACC_BIAS.
Definition: TYApi.h:327
TY_DEVICE_BASE_INFO
struct TY_DEVICE_BASE_INFO TY_DEVICE_BASE_INFO
- - - + + +
TYDeinitLib
TY_CAPI TYDeinitLib(void)
Deinit this library.
TYGetIntRange
TY_CAPI TYGetIntRange(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_INT_RANGE *intRange)
Get value range of integer feature.
TY_ACC_MISALIGNMENT
struct TY_ACC_MISALIGNMENT TY_ACC_MISALIGNMENT
-
TY_TRIGGER_MODE_M_SIG
master mode 1, sending one trigger signal once received a soft/hardware trigger
Definition: TYApi.h:463
- -
TY_STRUCT_TRIGGER_PARAM_EX
param of trigger, see TY_TRIGGER_PARAM_EX
Definition: TYApi.h:266
- +
TY_TRIGGER_MODE_M_SIG
master mode 1, sending one trigger signal once received a soft/hardware trigger
Definition: TYApi.h:479
+ +
TY_STRUCT_TRIGGER_PARAM_EX
param of trigger, see TY_TRIGGER_PARAM_EX
Definition: TYApi.h:290
+
TYLibVersion
TY_CAPI TYLibVersion(TY_VERSION_INFO *version)
Get current library version.
TYSendSoftTrigger
TY_CAPI TYSendSoftTrigger(TY_DEV_HANDLE hDevice)
Send a software trigger to capture a frame when device works in trigger mode.
- -
TY_BYTEARRAY_ATTR::valid_size
int32_t valid_size
Definition: TYApi.h:580
-
TY_INT_FRAME_PER_TRIGGER
Number of frames captured per trigger.
Definition: TYApi.h:264
-
TY_IMAGE_DATA::buffer
void * buffer
Pointer to data buffer.
Definition: TYApi.h:810
- -
TY_FEATURE_INFO::featureID
TY_FEATURE_ID featureID
feature unique id
Definition: TYApi.h:551
-
TY_BOOL_AUTO_EXPOSURE
Auto exposure switch.
Definition: TYApi.h:282
+ +
TY_INT_FRAME_PER_TRIGGER
Number of frames captured per trigger.
Definition: TYApi.h:288
+ +
TY_FEATURE_INFO::featureID
TY_FEATURE_ID featureID
feature unique id
Definition: TYApi.h:566
+
TY_BOOL_AUTO_EXPOSURE
Auto exposure switch.
Definition: TYApi.h:306
TYUpdateAllDeviceList
TY_CAPI TYUpdateAllDeviceList()
Update current connected devices.
- -
TY_COMPONENT_RGB_CAM_LEFT
Left RGB camera.
Definition: TYApi.h:202
-
TY_FEATURE_INFO::bindComponentID
int32_t bindComponentID
component ID current feature bind to
Definition: TYApi.h:553
-
TY_PIXEL_FORMAT_RGB
0x30000000
Definition: TYApi.h:387
- -
TY_COMPONENT_IR_CAM_LEFT
Left IR camera.
Definition: TYApi.h:200
- +
TY_COMPONENT_RGB_CAM_LEFT
Left RGB camera.
Definition: TYApi.h:226
+
TY_FEATURE_INFO::bindComponentID
int32_t bindComponentID
component ID current feature bind to
Definition: TYApi.h:568
+
TY_PIXEL_FORMAT_RGB
0x30000000
Definition: TYApi.h:406
+ +
TY_COMPONENT_IR_CAM_LEFT
Left IR camera.
Definition: TYApi.h:224
+
TYOpenDevice
TY_CAPI TYOpenDevice(TY_INTERFACE_HANDLE ifaceHandle, const char *deviceID, TY_DEV_HANDLE *outDeviceHandle, TY_FW_ERRORCODE *outFwErrorcode=NULL)
Open device by device ID.
-
TYGetEnumEntryCount
TY_CAPI TYGetEnumEntryCount(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t *entryCount)
Get number of enum entries.
- +
TY_FRAME_DATA::userBuffer
void * userBuffer
Pointer to user enqueued buffer, user should enqueue this buffer in the end of callback.
Definition: TYApi.h:816
+
TY_IMAGE_DATA::size
int32_t size
Buffer size.
Definition: TYApi.h:805
+
TY_ACC_BIAS
struct TY_ACC_BIAS TY_ACC_BIAS
-
TY_COMPONENT_RGB_CAM
Some device has only one RGB camera, map it to left.
Definition: TYApi.h:209
- -
TY_FRAME_DATA::reserved
int32_t reserved[6]
Reserved: reserved[0],laser_val;.
Definition: TYApi.h:823
+
TY_COMPONENT_RGB_CAM
Some device has only one RGB camera, map it to left.
Definition: TYApi.h:233
+
TYHasInterface
TY_CAPI TYHasInterface(const char *ifaceID, bool *value)
Check if has interface.
- - -
TY_INT_WIDTH
Image width.
Definition: TYApi.h:254
-
TY_INT_TRIGGER_DELAY_US
Trigger delay time, in microseconds.
Definition: TYApi.h:272
-
TY_TRIGGER_MODE_PER_PASS2
trigger mode 30,Alternate output depth image/ir image
Definition: TYApi.h:469
-
TY_DEVICE_BASE_INFO::modelName
char modelName[32]
device model name
Definition: TYApi.h:532
-
TY_FEATURE_INFO::componentID
TY_COMPONENT_ID componentID
owner of this feature
Definition: TYApi.h:550
+ + +
TY_INT_WIDTH
Image width.
Definition: TYApi.h:278
+
TY_FRAME_DATA::image
TY_IMAGE_DATA image[10]
Buffer data, max to 10 images per frame, each buffer data could be an image or something else...
Definition: TYApi.h:820
+
TY_INT_TRIGGER_DELAY_US
Trigger delay time, in microseconds.
Definition: TYApi.h:296
+
TY_TRIGGER_MODE_PER_PASS2
trigger mode 30,Alternate output depth image/ir image
Definition: TYApi.h:485
+
TY_DEVICE_BASE_INFO::modelName
char modelName[32]
device model name
Definition: TYApi.h:547
+
TY_FEATURE_INFO::componentID
TY_COMPONENT_ID componentID
owner of this feature
Definition: TYApi.h:565
TYCloseDevice
TY_CAPI TYCloseDevice(TY_DEV_HANDLE hDevice, bool reboot=false)
Close device by device handle.
- -
TY_TRIGGER_MODE_M_PER
master mode 2, periodic sending one trigger signals, &#39;fps&#39; param should be set
Definition: TYApi.h:464
+
TY_CAMERA_DISTORTION
camera distortion parameters
Definition: TYApi.h:629
+
TY_TRIGGER_MODE_M_PER
master mode 2, periodic sending one trigger signals, &#39;fps&#39; param should be set
Definition: TYApi.h:480
TYSetString
TY_CAPI TYSetString(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const char *buffer)
Set value of string feature.
-
TY_FEATURE_TYPE_LIST
TY_FEATURE_TYPE_LIST
Feature Format Type definitions.
Definition: TYApi.h:216
-
TY_COMPONENT_RGB_CAM_RIGHT
Right RGB camera.
Definition: TYApi.h:203
-
TY_PIXEL_FORMAT_JPEG
0x32000000
Definition: TYApi.h:389
- - -
TY_FEATURE_INFO::name
char name[32]
describe string
Definition: TYApi.h:552
-
TY_INT_RANGE::inc
int32_t inc
increaing step
Definition: TYApi.h:562
+
TY_FEATURE_TYPE_LIST
TY_FEATURE_TYPE_LIST
Feature Format Type definitions.
Definition: TYApi.h:240
+
TY_COMPONENT_RGB_CAM_RIGHT
Right RGB camera.
Definition: TYApi.h:227
+
TY_PIXEL_FORMAT_JPEG
0x32000000
Definition: TYApi.h:408
+ +
TY_FEATURE_INFO::name
char name[32]
describe string
Definition: TYApi.h:567
+
TY_INT_RANGE::inc
int32_t inc
increaing step
Definition: TYApi.h:577
TY_GYRO_SCALE
struct TY_GYRO_SCALE TY_GYRO_SCALE
- -
TY_PIXEL_FORMAT_MONO
0x10000000
Definition: TYApi.h:378
+ +
TY_PIXEL_FORMAT_MONO
0x10000000
Definition: TYApi.h:400
TY_CAMERA_DISTORTION
struct TY_CAMERA_DISTORTION TY_CAMERA_DISTORTION
camera distortion parameters
TYGetBool
TY_CAPI TYGetBool(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool *value)
Get value of bool feature.
-
TY_COMPONENT_IR_CAM_RIGHT
Right IR camera.
Definition: TYApi.h:201
- -
TY_STRUCT_CAM_DISTORTION
see TY_CAMERA_DISTORTION
Definition: TYApi.h:235
-
TY_IMAGE_DATA::reserved
int32_t reserved[9]
Reserved.
Definition: TYApi.h:814
- -
TY_STRUCT_TRIGGER_TIMER_PERIOD
param of trigger mode 21, see TY_TRIGGER_TIMER_PERIOD
Definition: TYApi.h:268
-
TY_CAMERA_DISTORTION::data
float data[12]
Definition is compatible with opencv3.0+ :k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4.
Definition: TYApi.h:625
- -
TY_FEATURE_INFO::accessMode
TY_ACCESS_MODE accessMode
feature access privilege
Definition: TYApi.h:547
-
TY_PIXEL_FORMAT_MJPG
0x33000000
Definition: TYApi.h:390
-
TY_TRIGGER_POL_LIST
TY_TRIGGER_POL_LIST
set external trigger signal edge
Definition: TYApi.h:327
- +
TY_COMPONENT_IR_CAM_RIGHT
Right IR camera.
Definition: TYApi.h:225
+
TY_STRUCT_CAM_DISTORTION
see TY_CAMERA_DISTORTION
Definition: TYApi.h:259
+ +
TY_STRUCT_TRIGGER_TIMER_PERIOD
param of trigger mode 21, see TY_TRIGGER_TIMER_PERIOD
Definition: TYApi.h:292
+ +
TY_FEATURE_INFO::accessMode
TY_ACCESS_MODE accessMode
feature access privilege
Definition: TYApi.h:562
+
TY_PIXEL_FORMAT_MJPG
0x33000000
Definition: TYApi.h:409
+ +
TY_TRIGGER_POL_LIST
TY_TRIGGER_POL_LIST
set external trigger signal edge
Definition: TYApi.h:349
+
TYGetDeviceList
TY_CAPI TYGetDeviceList(TY_INTERFACE_HANDLE ifaceHandle, TY_DEVICE_BASE_INFO *deviceInfos, uint32_t bufferCount, uint32_t *filledDeviceCount)
Get device info list.
- -
TY_STRUCT_IMU_ACC_SCALE
IMU acc scale matrix, see TY_ACC_SCALE.
Definition: TYApi.h:307
- - -
TY_COMPONENT_STORAGE
virtual component for device storage
Definition: TYApi.h:207
+
TY_IMAGE_DATA::status
int32_t status
Status of this buffer.
Definition: TYApi.h:803
+ +
TY_STRUCT_IMU_ACC_SCALE
IMU acc scale matrix, see TY_ACC_SCALE.
Definition: TYApi.h:329
+ +
TY_COMPONENT_STORAGE
virtual component for device storage
Definition: TYApi.h:231
TYGetString
TY_CAPI TYGetString(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, char *buffer, uint32_t bufferSize)
Get value of string feature.
-
TY_INT_NTP_SERVER_IP
Ntp server IP.
Definition: TYApi.h:246
-
TY_STRUCT_TRIGGER_TIMER_LIST
param of trigger mode 20, see TY_TRIGGER_TIMER_LIST
Definition: TYApi.h:267
-
TY_BOOL_KEEP_ALIVE_ONOFF
Keep Alive switch.
Definition: TYApi.h:269
- +
TY_INT_NTP_SERVER_IP
Ntp server IP.
Definition: TYApi.h:270
+
TY_STRUCT_TRIGGER_TIMER_LIST
param of trigger mode 20, see TY_TRIGGER_TIMER_LIST
Definition: TYApi.h:291
+
TY_BOOL_KEEP_ALIVE_ONOFF
Keep Alive switch.
Definition: TYApi.h:293
TYGetDeviceNumber
TY_CAPI TYGetDeviceNumber(TY_INTERFACE_HANDLE ifaceHandle, uint32_t *deviceNumber)
Get number of current connected devices.
TYGetInterfaceNumber
TY_CAPI TYGetInterfaceNumber(uint32_t *pNumIfaces)
Get number of current interfaces.
-
TY_STRUCT_CAM_INTRINSIC
see TY_CAMERA_INTRINSIC
Definition: TYApi.h:232
- -
TY_INT_LASER_POWER
Laser power level.
Definition: TYApi.h:289
-
TY_ENUM_TRIGGER_POL
Trigger POL, see TY_TRIGGER_POL_LIST.
Definition: TYApi.h:263
-
TY_IMAGE_DATA::imageIndex
int32_t imageIndex
image index used in trigger mode
Definition: TYApi.h:806
- -
TY_STRUCT_IMU_ACC_MISALIGNMENT
IMU acc misalignment matrix, see TY_ACC_MISALIGNMENT.
Definition: TYApi.h:306
- +
TY_STRUCT_CAM_INTRINSIC
see TY_CAMERA_INTRINSIC
Definition: TYApi.h:256
+ +
TY_IMAGE_DATA::buffer
void * buffer
Pointer to data buffer.
Definition: TYApi.h:806
+
TY_INT_LASER_POWER
Laser power level.
Definition: TYApi.h:313
+
TY_ENUM_TRIGGER_POL
Trigger POL, see TY_TRIGGER_POL_LIST.
Definition: TYApi.h:287
+ +
TY_STRUCT_IMU_ACC_MISALIGNMENT
IMU acc misalignment matrix, see TY_ACC_MISALIGNMENT.
Definition: TYApi.h:328
+
TY_IMAGE_DATA::height
int32_t height
Image height in pixels.
Definition: TYApi.h:808
TYGetFloat
TY_CAPI TYGetFloat(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float *value)
Get value of float feature.
TYGetEnabledComponents
TY_CAPI TYGetEnabledComponents(TY_DEV_HANDLE hDevice, int32_t *componentIDs)
Get all enabled components IDs.
-
TY_STRUCT_EXTRINSIC_TO_IR_LEFT
extrinsic between left IR and current compoent, see TY_CAMERA_EXTRINSIC
Definition: TYApi.h:234
+
TY_STRUCT_EXTRINSIC_TO_IR_LEFT
extrinsic between left IR and current compoent, see TY_CAMERA_EXTRINSIC
Definition: TYApi.h:258
TYGetDeviceInfo
TY_CAPI TYGetDeviceInfo(TY_DEV_HANDLE hDevice, TY_DEVICE_BASE_INFO *info)
Get base info of the open device.
TY_ACC_SCALE
struct TY_ACC_SCALE TY_ACC_SCALE
- -
TY_PIXEL_BITS_LIST
TY_PIXEL_BITS_LIST
Pixel size type definitions.
Definition: TYApi.h:367
+ + +
TY_PIXEL_BITS_LIST
TY_PIXEL_BITS_LIST
Pixel size type definitions.
Definition: TYApi.h:389
TYGetFeatureInfo
TY_CAPI TYGetFeatureInfo(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FEATURE_INFO *featureInfo)
Get feature info.
- -
TY_BOOL_LASER_AUTO_CTRL
Laser auto ctrl.
Definition: TYApi.h:290
+
TY_FRAME_DATA::reserved
int32_t reserved[6]
Reserved: reserved[0],laser_val;.
Definition: TYApi.h:819
+ +
TY_BOOL_LASER_AUTO_CTRL
Laser auto ctrl.
Definition: TYApi.h:314
TYErrorString
TY_EXTC TY_EXPORT const char *TY_STDC TYErrorString(TY_STATUS errorID)
Get error information.
-
TY_CAMERA_DISTORTION
camera distortion parameters
Definition: TYApi.h:623
-
TY_IMAGE_MODE_LIST
TY_IMAGE_MODE_LIST
Predefined Image Mode List image mode controls image resolution & format predefined image modes named...
Definition: TYApi.h:441
- -
TY_PIXEL_FORMAT_MONO16
0x23000000,
Definition: TYApi.h:386
-
TY_STRUCT_IMU_GYRO_MISALIGNMENT
IMU gyro misalignment matrix, see TY_GYRO_MISALIGNMENT.
Definition: TYApi.h:309
+ +
TY_IMAGE_MODE_LIST
TY_IMAGE_MODE_LIST
Predefined Image Mode List image mode controls image resolution & format predefined image modes named...
Definition: TYApi.h:460
+ +
TY_PIXEL_FORMAT_MONO16
0x23000000,
Definition: TYApi.h:405
+
TY_STRUCT_IMU_GYRO_MISALIGNMENT
IMU gyro misalignment matrix, see TY_GYRO_MISALIGNMENT.
Definition: TYApi.h:331
TYOpenDeviceWithIP
TY_CAPI TYOpenDeviceWithIP(TY_INTERFACE_HANDLE ifaceHandle, const char *IP, TY_DEV_HANDLE *deviceHandle)
Open device by device IP, useful when a device is not listed.
-
TY_COMPONENT_BRIGHT_HISTO
virtual component for brightness histogram of ir
Definition: TYApi.h:206
-
TY_TRIGGER_MODE_SLAVE
slave mode, receive soft/hardware triggers
Definition: TYApi.h:462
- +
TY_COMPONENT_BRIGHT_HISTO
virtual component for brightness histogram of ir
Definition: TYApi.h:230
+
TY_TRIGGER_MODE_SLAVE
slave mode, receive soft/hardware triggers
Definition: TYApi.h:478
+
TY_CAMERA_TO_IMU
struct TY_CAMERA_TO_IMU TY_CAMERA_TO_IMU
-
TY_FEATURE_ID_LIST
TY_FEATURE_ID_LIST
feature for component definitions
Definition: TYApi.h:230
-
TY_STRUCT_IMU_GYRO_BIAS
IMU gyro bias matrix, see TY_GYRO_BIAS.
Definition: TYApi.h:308
+
TY_FEATURE_ID_LIST
TY_FEATURE_ID_LIST
feature for component definitions
Definition: TYApi.h:254
+
TY_STRUCT_IMU_GYRO_BIAS
IMU gyro bias matrix, see TY_GYRO_BIAS.
Definition: TYApi.h:330
diff --git a/Doc/html/a00005.html b/Doc/html/a00005.html index f22b342..04e514e 100644 --- a/Doc/html/a00005.html +++ b/Doc/html/a00005.html @@ -121,9 +121,9 @@ - + - +

Classes

struct  TY_PIXEL_DESC
struct  TY_PIXEL_DESC
 
struct  TY_PIXEL_COLOR_DESC
struct  TY_PIXEL_COLOR_DESC
 
+typedef struct TY_PIXEL_DESC  +typedef struct TY_PIXEL_COLOR_DESC 

@@ -134,30 +134,30 @@

Typedefs

-typedef struct TY_PIXEL_DESC TY_PIXEL_DESC
TY_PIXEL_DESC
 
-typedef struct TY_PIXEL_COLOR_DESC TY_PIXEL_COLOR_DESC
TY_PIXEL_COLOR_DESC
 
- + - + - + - + - + - +

Functions

TY_CAPI TYInvertExtrinsic (const TY_CAMERA_EXTRINSIC *orgExtrinsic, TY_CAMERA_EXTRINSIC *invExtrinsic)
TY_CAPI TYInvertExtrinsic (const TY_CAMERA_EXTRINSIC *orgExtrinsic, TY_CAMERA_EXTRINSIC *invExtrinsic)
 Calculate 4x4 extrinsic matrix's inverse matrix. More...
 
TY_CAPI TYMapDepthToPoint3d (const TY_CAMERA_CALIB_INFO *src_calib, uint32_t depthW, uint32_t depthH, const TY_PIXEL_DESC *depthPixels, uint32_t count, TY_VECT_3F *point3d, float f_scale_unit=1.0f)
TY_CAPI TYMapDepthToPoint3d (const TY_CAMERA_CALIB_INFO *src_calib, uint32_t depthW, uint32_t depthH, const TY_PIXEL_DESC *depthPixels, uint32_t count, TY_VECT_3F *point3d, float f_scale_unit=1.0f)
 Map pixels on depth image to 3D points. More...
 
TY_CAPI TYMapPoint3dToDepth (const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, TY_PIXEL_DESC *depth)
TY_CAPI TYMapPoint3dToDepth (const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, TY_PIXEL_DESC *depth)
 Map 3D points to pixels on depth image. Reverse operation of TYMapDepthToPoint3d. More...
 
TY_CAPI TYMapDepthImageToPoint3d (const TY_CAMERA_CALIB_INFO *src_calib, int32_t imageW, int32_t imageH, const uint16_t *depth, TY_VECT_3F *point3d, float f_scale_unit=1.0f)
TY_CAPI TYMapDepthImageToPoint3d (const TY_CAMERA_CALIB_INFO *src_calib, int32_t imageW, int32_t imageH, const uint16_t *depth, TY_VECT_3F *point3d, float f_scale_unit=1.0f)
 Map depth image to 3D points. 0 depth pixels maps to (NAN, NAN, NAN). More...
 
TY_CAPI TYMapPoint3dToDepthImage (const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, uint16_t *depth)
TY_CAPI TYMapPoint3dToDepthImage (const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, uint16_t *depth)
 Map 3D points to depth image. (NAN, NAN, NAN) will be skipped. More...
 
TY_CAPI TYMapPoint3dToPoint3d (const TY_CAMERA_EXTRINSIC *extrinsic, const TY_VECT_3F *point3dFrom, int32_t count, TY_VECT_3F *point3dTo)
TY_CAPI TYMapPoint3dToPoint3d (const TY_CAMERA_EXTRINSIC *extrinsic, const TY_VECT_3F *point3dFrom, int32_t count, TY_VECT_3F *point3dTo)
 Map 3D points to another coordinate. More...
 
@@ -208,13 +208,13 @@

TY_CAPI TYInvertExtrinsic ( - const TY_CAMERA_EXTRINSIC *  + const TY_CAMERA_EXTRINSIC *  orgExtrinsic, - TY_CAMERA_EXTRINSIC *  + TY_CAMERA_EXTRINSIC *  invExtrinsic  @@ -252,7 +252,7 @@

TY_CAPI TYMapDepthImageToPoint3d ( - const TY_CAMERA_CALIB_INFO *  + const TY_CAMERA_CALIB_INFO *  src_calib, @@ -276,7 +276,7 @@

- TY_VECT_3F *  + TY_VECT_3F *  point3d, @@ -322,7 +322,7 @@

TY_CAPI TYMapDepthToPoint3d ( - const TY_CAMERA_CALIB_INFO *  + const TY_CAMERA_CALIB_INFO *  src_calib, @@ -340,7 +340,7 @@

- const TY_PIXEL_DESC *  + const TY_PIXEL_DESC *  depthPixels, @@ -352,7 +352,7 @@

- TY_VECT_3F *  + TY_VECT_3F *  point3d, @@ -399,13 +399,13 @@

TY_CAPI TYMapPoint3dToDepth ( - const TY_CAMERA_CALIB_INFO *  + const TY_CAMERA_CALIB_INFO *  dst_calib, - const TY_VECT_3F *  + const TY_VECT_3F *  point3d, @@ -429,7 +429,7 @@

- TY_PIXEL_DESC *  + TY_PIXEL_DESC *  depth  @@ -470,13 +470,13 @@

TY_CAPI TYMapPoint3dToDepthImage ( - const TY_CAMERA_CALIB_INFO *  + const TY_CAMERA_CALIB_INFO *  dst_calib, - const TY_VECT_3F *  + const TY_VECT_3F *  point3d, @@ -541,13 +541,13 @@

TY_CAPI TYMapPoint3dToPoint3d ( - const TY_CAMERA_EXTRINSIC *  + const TY_CAMERA_EXTRINSIC *  extrinsic, - const TY_VECT_3F *  + const TY_VECT_3F *  point3dFrom, @@ -559,7 +559,7 @@

- TY_VECT_3F *  + TY_VECT_3F *  point3dTo  diff --git a/Doc/html/a00005.js b/Doc/html/a00005.js index 49d721e..add9dc7 100644 --- a/Doc/html/a00005.js +++ b/Doc/html/a00005.js @@ -1,7 +1,7 @@ var a00005 = [ - [ "TY_PIXEL_DESC", "a00161.html", "a00161" ], - [ "TY_PIXEL_COLOR_DESC", "a00165.html", "a00165" ], + [ "TY_PIXEL_DESC", "a00145.html", "a00145" ], + [ "TY_PIXEL_COLOR_DESC", "a00149.html", "a00149" ], [ "TYMAP_CHECKRET", "a00005.html#a99ad1ca94cfe3d4307b6b6a2d3a5d5ef", null ], [ "TY_PIXEL_COLOR_DESC", "a00005.html#af8509aa795f9ebb98bce7071f3f6b79a", null ], [ "TY_PIXEL_DESC", "a00005.html#a002acf43ed000ada08b17692452033c8", null ], diff --git a/Doc/html/a00005_source.html b/Doc/html/a00005_source.html index d86350d..3b1391e 100644 --- a/Doc/html/a00005_source.html +++ b/Doc/html/a00005_source.html @@ -90,18 +90,18 @@
TYCoordinateMapper.h
-Go to the documentation of this file.
1 
6 #ifndef TY_COORDINATE_MAPPER_H_
7 #define TY_COORDINATE_MAPPER_H_
8 
9 #include <stdlib.h>
10 #include "TYApi.h"
11 
12 typedef struct TY_PIXEL_DESC
13 {
14  int16_t x; // x coordinate in pixels
15  int16_t y; // y coordinate in pixels
16  uint16_t depth; // depth value
17  uint16_t rsvd;
18 }TY_PIXEL_DESC;
19 
20 typedef struct TY_PIXEL_COLOR_DESC
21 {
22  int16_t x; // x coordinate in pixels
23  int16_t y; // y coordinate in pixels
24  uint8_t bgr_ch1; // color info <channel 1>
25  uint8_t bgr_ch2; // color info <channel 2>
26  uint8_t bgr_ch3; // color info <channel 3>
27  uint8_t rsvd;
28 }TY_PIXEL_COLOR_DESC;
29 
30 // ------------------------------
31 // base convertion
32 // ------------------------------
33 
39 TY_CAPI TYInvertExtrinsic (const TY_CAMERA_EXTRINSIC* orgExtrinsic,
40  TY_CAMERA_EXTRINSIC* invExtrinsic);
41 
50 TY_CAPI TYMapDepthToPoint3d (const TY_CAMERA_CALIB_INFO* src_calib,
51  uint32_t depthW, uint32_t depthH,
52  const TY_PIXEL_DESC* depthPixels, uint32_t count,
53  TY_VECT_3F* point3d,
54  float f_scale_unit = 1.0f);
55 
64 TY_CAPI TYMapPoint3dToDepth (const TY_CAMERA_CALIB_INFO* dst_calib,
65  const TY_VECT_3F* point3d, uint32_t count,
66  uint32_t depthW, uint32_t depthH,
67  TY_PIXEL_DESC* depth);
68 
76 TY_CAPI TYMapDepthImageToPoint3d (const TY_CAMERA_CALIB_INFO* src_calib,
77  int32_t imageW, int32_t imageH,
78  const uint16_t* depth,
79  TY_VECT_3F* point3d,
80  float f_scale_unit = 1.0f);
81 
90 TY_CAPI TYMapPoint3dToDepthImage (const TY_CAMERA_CALIB_INFO* dst_calib,
91  const TY_VECT_3F* point3d, uint32_t count,
92  uint32_t depthW, uint32_t depthH, uint16_t* depth);
93 
100 TY_CAPI TYMapPoint3dToPoint3d (const TY_CAMERA_EXTRINSIC* extrinsic,
101  const TY_VECT_3F* point3dFrom, int32_t count,
102  TY_VECT_3F* point3dTo);
103 
104 // ------------------------------
105 // inlines
106 // ------------------------------
107 
119 static inline TY_STATUS TYMapDepthToColorCoordinate(
120  const TY_CAMERA_CALIB_INFO* depth_calib,
121  uint32_t depthW, uint32_t depthH,
122  const TY_PIXEL_DESC* depth, uint32_t count,
123  const TY_CAMERA_CALIB_INFO* color_calib,
124  uint32_t mappedW, uint32_t mappedH,
125  TY_PIXEL_DESC* mappedDepth,
126  float f_scale_unit = 1.0f);
127 
138 static inline TY_STATUS TYMapDepthImageToColorCoordinate(
139  const TY_CAMERA_CALIB_INFO* depth_calib,
140  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
141  const TY_CAMERA_CALIB_INFO* color_calib,
142  uint32_t mappedW, uint32_t mappedH, uint16_t* mappedDepth,
143  float f_scale_unit = 1.0f);
144 
155 static inline TY_STATUS TYCreateDepthToColorCoordinateLookupTable(
156  const TY_CAMERA_CALIB_INFO* depth_calib,
157  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
158  const TY_CAMERA_CALIB_INFO* color_calib,
159  uint32_t mappedW, uint32_t mappedH,
160  TY_PIXEL_DESC* lut,
161  float f_scale_unit = 1.0f);
162 
177 static inline TY_STATUS TYMapRGBPixelsToDepthCoordinate(
178  const TY_CAMERA_CALIB_INFO* depth_calib,
179  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
180  const TY_CAMERA_CALIB_INFO* color_calib,
181  uint32_t rgbW, uint32_t rgbH,
182  TY_PIXEL_COLOR_DESC* src, uint32_t cnt,
183  uint32_t min_distance,
184  uint32_t max_distance,
185  TY_PIXEL_COLOR_DESC* dst,
186  float f_scale_unit = 1.0f);
187 
199 static inline TY_STATUS TYMapRGBImageToDepthCoordinate(
200  const TY_CAMERA_CALIB_INFO* depth_calib,
201  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
202  const TY_CAMERA_CALIB_INFO* color_calib,
203  uint32_t rgbW, uint32_t rgbH, const uint8_t* inRgb,
204  uint8_t* mappedRgb,
205  float f_scale_unit = 1.0f);
206 
218 static inline TY_STATUS TYMapMono8ImageToDepthCoordinate(
219  const TY_CAMERA_CALIB_INFO* depth_calib,
220  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
221  const TY_CAMERA_CALIB_INFO* color_calib,
222  uint32_t monoW, uint32_t monoH, const uint8_t* inMono,
223  uint8_t* mappedMono,
224  float f_scale_unit = 1.0f);
225 
226 
227 #define TYMAP_CHECKRET(f, bufToFree) \
228  do{ \
229  TY_STATUS err = (f); \
230  if(err){ \
231  if(bufToFree) \
232  free(bufToFree); \
233  return err; \
234  } \
235  } while(0)
236 
237 
238 static inline TY_STATUS TYMapDepthToColorCoordinate(
239  const TY_CAMERA_CALIB_INFO* depth_calib,
240  uint32_t depthW, uint32_t depthH,
241  const TY_PIXEL_DESC* depth, uint32_t count,
242  const TY_CAMERA_CALIB_INFO* color_calib,
243  uint32_t mappedW, uint32_t mappedH,
244  TY_PIXEL_DESC* mappedDepth,
245  float f_scale_unit)
246 {
247  TY_VECT_3F* p3d = (TY_VECT_3F*)malloc(sizeof(TY_VECT_3F) * count);
248  TYMAP_CHECKRET(TYMapDepthToPoint3d(depth_calib, depthW, depthH, depth, count, p3d, f_scale_unit), p3d );
249  TY_CAMERA_EXTRINSIC extri_inv;
250  TYMAP_CHECKRET(TYInvertExtrinsic(&color_calib->extrinsic, &extri_inv), p3d);
251  TYMAP_CHECKRET(TYMapPoint3dToPoint3d(&extri_inv, p3d, count, p3d), p3d );
252  TYMAP_CHECKRET(TYMapPoint3dToDepth(color_calib, p3d, count, mappedW, mappedH, mappedDepth), p3d );
253  free(p3d);
254  return TY_STATUS_OK;
255 }
256 
257 
258 static inline TY_STATUS TYMapDepthImageToColorCoordinate(
259  const TY_CAMERA_CALIB_INFO* depth_calib,
260  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
261  const TY_CAMERA_CALIB_INFO* color_calib,
262  uint32_t mappedW, uint32_t mappedH, uint16_t* mappedDepth, float f_scale_unit)
263 {
264  TY_VECT_3F* p3d = (TY_VECT_3F*)malloc(sizeof(TY_VECT_3F) * depthW * depthH);
265  TYMAP_CHECKRET(TYMapDepthImageToPoint3d(depth_calib, depthW, depthH, depth, p3d, f_scale_unit), p3d);
266  TY_CAMERA_EXTRINSIC extri_inv;
267  TYMAP_CHECKRET(TYInvertExtrinsic(&color_calib->extrinsic, &extri_inv), p3d);
268  TYMAP_CHECKRET(TYMapPoint3dToPoint3d(&extri_inv, p3d, depthW * depthH, p3d), p3d);
269  TYMAP_CHECKRET(TYMapPoint3dToDepthImage(
270  color_calib, p3d, depthW * depthH, mappedW, mappedH, mappedDepth), p3d);
271  free(p3d);
272  return TY_STATUS_OK;
273 }
274 
275 static inline TY_STATUS TYMapRGBPixelsToDepthCoordinate(
276  const TY_CAMERA_CALIB_INFO* depth_calib,
277  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
278  const TY_CAMERA_CALIB_INFO* color_calib,
279  uint32_t rgbW, uint32_t rgbH,
280  TY_PIXEL_COLOR_DESC* src, uint32_t cnt,
281  uint32_t min_distance,
282  uint32_t max_distance,
283  TY_PIXEL_COLOR_DESC* dst,
284  float f_scale_unit)
285 {
286  uint32_t m_distance_range = max_distance - min_distance;
287  TY_CAMERA_EXTRINSIC extri = color_calib->extrinsic;
288 
289  TY_PIXEL_DESC* pixels_array = (TY_PIXEL_DESC*)malloc(sizeof(TY_PIXEL_DESC) * m_distance_range);
290  TY_PIXEL_DESC* pixels_mapped_array = (TY_PIXEL_DESC*)malloc(sizeof(TY_PIXEL_DESC) * m_distance_range);
291  TY_VECT_3F* p3d_array = (TY_VECT_3F*)malloc(sizeof(TY_VECT_3F) * m_distance_range);
292  for (uint32_t i = 0; i < cnt; i++) {
293  for (uint32_t m = 0; m < m_distance_range; m++) {
294  pixels_array[m].x = src[i].x;
295  pixels_array[m].y = src[i].y;
296  pixels_array[m].depth = m + min_distance;
297  }
298 
299  TYMapDepthToPoint3d(color_calib, rgbW, rgbH, pixels_array, m_distance_range, &p3d_array[0], f_scale_unit);
300  TYMapPoint3dToPoint3d(&extri, &p3d_array[0], m_distance_range, &p3d_array[0]);
301 
302  TYMapPoint3dToDepth(depth_calib, p3d_array, m_distance_range, depthW, depthH, pixels_mapped_array);
303 
304  uint16_t m_min_delt = 0xffff;
305  dst[i].x = -1;
306  dst[i].y = -1;
307  for (uint32_t m = 0; m < m_distance_range; m++) {
308  int16_t pixel_x = pixels_mapped_array[m].x;
309  int16_t pixel_y = pixels_mapped_array[m].y;
310  uint16_t delt = abs(pixels_mapped_array[m].depth - depth[pixel_y*depthW + pixel_x]);
311  if (delt < m_min_delt) {
312  m_min_delt = delt;
313  if (m_min_delt < 10) {
314  dst[i].x = pixel_x;
315  dst[i].y = pixel_y;
316  dst[i].bgr_ch1 = src[i].bgr_ch1;
317  dst[i].bgr_ch2 = src[i].bgr_ch2;
318  dst[i].bgr_ch3 = src[i].bgr_ch3;
319  }
320  }
321  }
322  }
323 
324  free(pixels_array);
325  free(pixels_mapped_array);
326  free(p3d_array);
327 
328 
329  return TY_STATUS_OK;
330 }
331 
332 static inline TY_STATUS TYCreateDepthToColorCoordinateLookupTable(
333  const TY_CAMERA_CALIB_INFO* depth_calib,
334  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
335  const TY_CAMERA_CALIB_INFO* color_calib,
336  uint32_t mappedW, uint32_t mappedH,
337  TY_PIXEL_DESC* lut,
338  float f_scale_unit)
339 {
340  TY_VECT_3F* p3d = (TY_VECT_3F*)malloc(sizeof(TY_VECT_3F) * depthW * depthH);
341  TYMAP_CHECKRET(TYMapDepthImageToPoint3d(depth_calib, depthW, depthH, depth, p3d, f_scale_unit), p3d);
342  TY_CAMERA_EXTRINSIC extri_inv;
343  TYMAP_CHECKRET(TYInvertExtrinsic(&color_calib->extrinsic, &extri_inv), p3d);
344  TYMAP_CHECKRET(TYMapPoint3dToPoint3d(&extri_inv, p3d, depthW * depthH, p3d), p3d);
345  TYMAP_CHECKRET(TYMapPoint3dToDepth(color_calib, p3d, depthW * depthH, mappedW, mappedH, lut), p3d );
346  free(p3d);
347  return TY_STATUS_OK;
348 }
349 
350 
351 static inline TY_STATUS TYMapRGBImageToDepthCoordinate(
352  const TY_CAMERA_CALIB_INFO* depth_calib,
353  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
354  const TY_CAMERA_CALIB_INFO* color_calib,
355  uint32_t rgbW, uint32_t rgbH, const uint8_t* inRgb,
356  uint8_t* mappedRgb, float f_scale_unit)
357 {
358  TY_PIXEL_DESC* lut = (TY_PIXEL_DESC*)malloc(sizeof(TY_PIXEL_DESC) * depthW * depthH);
359  TYMAP_CHECKRET(TYCreateDepthToColorCoordinateLookupTable(
360  depth_calib, depthW, depthH, depth,
361  color_calib, rgbW, rgbH, lut, f_scale_unit), lut);
362  for(uint32_t depthr = 0; depthr < depthH; depthr++)
363  for(uint32_t depthc = 0; depthc < depthW; depthc++)
364  {
365  TY_PIXEL_DESC* plut = &lut[depthr * depthW + depthc];
366  uint8_t* outPtr = &mappedRgb[depthW * depthr * 3 + depthc * 3];
367  if(plut->x < 0 || plut->x >= (int)rgbW || plut->y < 0 || plut->y >= (int)rgbH){
368  outPtr[0] = outPtr[1] = outPtr[2] = 0;
369  } else {
370  const uint8_t* inPtr = &inRgb[rgbW * plut->y * 3 + plut->x * 3];
371  outPtr[0] = inPtr[0];
372  outPtr[1] = inPtr[1];
373  outPtr[2] = inPtr[2];
374  }
375  }
376  free(lut);
377  return TY_STATUS_OK;
378 }
379 
380 
381 static inline TY_STATUS TYMapMono8ImageToDepthCoordinate(
382  const TY_CAMERA_CALIB_INFO* depth_calib,
383  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
384  const TY_CAMERA_CALIB_INFO* color_calib,
385  uint32_t monoW, uint32_t monoH, const uint8_t* inMono,
386  uint8_t* mappedMono, float f_scale_unit)
387 {
388  TY_PIXEL_DESC* lut = (TY_PIXEL_DESC*)malloc(sizeof(TY_PIXEL_DESC) * depthW * depthH);
389  TYMAP_CHECKRET(TYCreateDepthToColorCoordinateLookupTable(
390  depth_calib, depthW, depthH, depth,
391  color_calib, monoW, monoH, lut, f_scale_unit), lut);
392  for(uint32_t depthr = 0; depthr < depthH; depthr++)
393  for(uint32_t depthc = 0; depthc < depthW; depthc++)
394  {
395  TY_PIXEL_DESC* plut = &lut[depthr * depthW + depthc];
396  uint8_t* outPtr = &mappedMono[depthW * depthr + depthc];
397  if(plut->x < 0 || plut->x >= (int)monoW || plut->y < 0 || plut->y >= (int)monoH){
398  outPtr[0] = 0;
399  } else {
400  const uint8_t* inPtr = &inMono[monoW * plut->y + plut->x];
401  outPtr[0] = inPtr[0];
402  }
403  }
404  free(lut);
405  return TY_STATUS_OK;
406 }
407 
408 
409 #endif
TYInvertExtrinsic
TY_CAPI TYInvertExtrinsic(const TY_CAMERA_EXTRINSIC *orgExtrinsic, TY_CAMERA_EXTRINSIC *invExtrinsic)
Calculate 4x4 extrinsic matrix&#39;s inverse matrix.
+Go to the documentation of this file.
1 
6 #ifndef TY_COORDINATE_MAPPER_H_
7 #define TY_COORDINATE_MAPPER_H_
8 
9 #include <stdlib.h>
10 #include "TYApi.h"
11 
12 typedef struct TY_PIXEL_DESC
13 {
14  int16_t x; // x coordinate in pixels
15  int16_t y; // y coordinate in pixels
16  uint16_t depth; // depth value
17  uint16_t rsvd;
18 }TY_PIXEL_DESC;
19 
20 typedef struct TY_PIXEL_COLOR_DESC
21 {
22  int16_t x; // x coordinate in pixels
23  int16_t y; // y coordinate in pixels
24  uint8_t bgr_ch1; // color info <channel 1>
25  uint8_t bgr_ch2; // color info <channel 2>
26  uint8_t bgr_ch3; // color info <channel 3>
27  uint8_t rsvd;
28 }TY_PIXEL_COLOR_DESC;
29 
30 // ------------------------------
31 // base convertion
32 // ------------------------------
33 
39 TY_CAPI TYInvertExtrinsic (const TY_CAMERA_EXTRINSIC* orgExtrinsic,
40  TY_CAMERA_EXTRINSIC* invExtrinsic);
41 
50 TY_CAPI TYMapDepthToPoint3d (const TY_CAMERA_CALIB_INFO* src_calib,
51  uint32_t depthW, uint32_t depthH,
52  const TY_PIXEL_DESC* depthPixels, uint32_t count,
53  TY_VECT_3F* point3d,
54  float f_scale_unit = 1.0f);
55 
64 TY_CAPI TYMapPoint3dToDepth (const TY_CAMERA_CALIB_INFO* dst_calib,
65  const TY_VECT_3F* point3d, uint32_t count,
66  uint32_t depthW, uint32_t depthH,
67  TY_PIXEL_DESC* depth);
68 
76 TY_CAPI TYMapDepthImageToPoint3d (const TY_CAMERA_CALIB_INFO* src_calib,
77  int32_t imageW, int32_t imageH,
78  const uint16_t* depth,
79  TY_VECT_3F* point3d,
80  float f_scale_unit = 1.0f);
81 
90 TY_CAPI TYMapPoint3dToDepthImage (const TY_CAMERA_CALIB_INFO* dst_calib,
91  const TY_VECT_3F* point3d, uint32_t count,
92  uint32_t depthW, uint32_t depthH, uint16_t* depth);
93 
100 TY_CAPI TYMapPoint3dToPoint3d (const TY_CAMERA_EXTRINSIC* extrinsic,
101  const TY_VECT_3F* point3dFrom, int32_t count,
102  TY_VECT_3F* point3dTo);
103 
104 // ------------------------------
105 // inlines
106 // ------------------------------
107 
119 static inline TY_STATUS TYMapDepthToColorCoordinate(
120  const TY_CAMERA_CALIB_INFO* depth_calib,
121  uint32_t depthW, uint32_t depthH,
122  const TY_PIXEL_DESC* depth, uint32_t count,
123  const TY_CAMERA_CALIB_INFO* color_calib,
124  uint32_t mappedW, uint32_t mappedH,
125  TY_PIXEL_DESC* mappedDepth,
126  float f_scale_unit = 1.0f);
127 
138 static inline TY_STATUS TYMapDepthImageToColorCoordinate(
139  const TY_CAMERA_CALIB_INFO* depth_calib,
140  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
141  const TY_CAMERA_CALIB_INFO* color_calib,
142  uint32_t mappedW, uint32_t mappedH, uint16_t* mappedDepth,
143  float f_scale_unit = 1.0f);
144 
155 static inline TY_STATUS TYCreateDepthToColorCoordinateLookupTable(
156  const TY_CAMERA_CALIB_INFO* depth_calib,
157  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
158  const TY_CAMERA_CALIB_INFO* color_calib,
159  uint32_t mappedW, uint32_t mappedH,
160  TY_PIXEL_DESC* lut,
161  float f_scale_unit = 1.0f);
162 
177 static inline TY_STATUS TYMapRGBPixelsToDepthCoordinate(
178  const TY_CAMERA_CALIB_INFO* depth_calib,
179  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
180  const TY_CAMERA_CALIB_INFO* color_calib,
181  uint32_t rgbW, uint32_t rgbH,
182  TY_PIXEL_COLOR_DESC* src, uint32_t cnt,
183  uint32_t min_distance,
184  uint32_t max_distance,
185  TY_PIXEL_COLOR_DESC* dst,
186  float f_scale_unit = 1.0f);
187 
199 static inline TY_STATUS TYMapRGBImageToDepthCoordinate(
200  const TY_CAMERA_CALIB_INFO* depth_calib,
201  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
202  const TY_CAMERA_CALIB_INFO* color_calib,
203  uint32_t rgbW, uint32_t rgbH, const uint8_t* inRgb,
204  uint8_t* mappedRgb,
205  float f_scale_unit = 1.0f);
206 
218 static inline TY_STATUS TYMapMono8ImageToDepthCoordinate(
219  const TY_CAMERA_CALIB_INFO* depth_calib,
220  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
221  const TY_CAMERA_CALIB_INFO* color_calib,
222  uint32_t monoW, uint32_t monoH, const uint8_t* inMono,
223  uint8_t* mappedMono,
224  float f_scale_unit = 1.0f);
225 
226 
227 #define TYMAP_CHECKRET(f, bufToFree) \
228  do{ \
229  TY_STATUS err = (f); \
230  if(err){ \
231  if(bufToFree) \
232  free(bufToFree); \
233  return err; \
234  } \
235  } while(0)
236 
237 
238 static inline TY_STATUS TYMapDepthToColorCoordinate(
239  const TY_CAMERA_CALIB_INFO* depth_calib,
240  uint32_t depthW, uint32_t depthH,
241  const TY_PIXEL_DESC* depth, uint32_t count,
242  const TY_CAMERA_CALIB_INFO* color_calib,
243  uint32_t mappedW, uint32_t mappedH,
244  TY_PIXEL_DESC* mappedDepth,
245  float f_scale_unit)
246 {
247  TY_VECT_3F* p3d = (TY_VECT_3F*)malloc(sizeof(TY_VECT_3F) * count);
248  TYMAP_CHECKRET(TYMapDepthToPoint3d(depth_calib, depthW, depthH, depth, count, p3d, f_scale_unit), p3d );
249  TY_CAMERA_EXTRINSIC extri_inv;
250  TYMAP_CHECKRET(TYInvertExtrinsic(&color_calib->extrinsic, &extri_inv), p3d);
251  TYMAP_CHECKRET(TYMapPoint3dToPoint3d(&extri_inv, p3d, count, p3d), p3d );
252  TYMAP_CHECKRET(TYMapPoint3dToDepth(color_calib, p3d, count, mappedW, mappedH, mappedDepth), p3d );
253  free(p3d);
254  return TY_STATUS_OK;
255 }
256 
257 
258 static inline TY_STATUS TYMapDepthImageToColorCoordinate(
259  const TY_CAMERA_CALIB_INFO* depth_calib,
260  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
261  const TY_CAMERA_CALIB_INFO* color_calib,
262  uint32_t mappedW, uint32_t mappedH, uint16_t* mappedDepth, float f_scale_unit)
263 {
264  TY_VECT_3F* p3d = (TY_VECT_3F*)malloc(sizeof(TY_VECT_3F) * depthW * depthH);
265  TYMAP_CHECKRET(TYMapDepthImageToPoint3d(depth_calib, depthW, depthH, depth, p3d, f_scale_unit), p3d);
266  TY_CAMERA_EXTRINSIC extri_inv;
267  TYMAP_CHECKRET(TYInvertExtrinsic(&color_calib->extrinsic, &extri_inv), p3d);
268  TYMAP_CHECKRET(TYMapPoint3dToPoint3d(&extri_inv, p3d, depthW * depthH, p3d), p3d);
269  TYMAP_CHECKRET(TYMapPoint3dToDepthImage(
270  color_calib, p3d, depthW * depthH, mappedW, mappedH, mappedDepth), p3d);
271  free(p3d);
272  return TY_STATUS_OK;
273 }
274 
275 static inline TY_STATUS TYMapRGBPixelsToDepthCoordinate(
276  const TY_CAMERA_CALIB_INFO* depth_calib,
277  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
278  const TY_CAMERA_CALIB_INFO* color_calib,
279  uint32_t rgbW, uint32_t rgbH,
280  TY_PIXEL_COLOR_DESC* src, uint32_t cnt,
281  uint32_t min_distance,
282  uint32_t max_distance,
283  TY_PIXEL_COLOR_DESC* dst,
284  float f_scale_unit)
285 {
286  uint32_t m_distance_range = max_distance - min_distance;
287  TY_CAMERA_EXTRINSIC extri = color_calib->extrinsic;
288 
289  TY_PIXEL_DESC* pixels_array = (TY_PIXEL_DESC*)malloc(sizeof(TY_PIXEL_DESC) * m_distance_range);
290  TY_PIXEL_DESC* pixels_mapped_array = (TY_PIXEL_DESC*)malloc(sizeof(TY_PIXEL_DESC) * m_distance_range);
291  TY_VECT_3F* p3d_array = (TY_VECT_3F*)malloc(sizeof(TY_VECT_3F) * m_distance_range);
292  for (uint32_t i = 0; i < cnt; i++) {
293  for (uint32_t m = 0; m < m_distance_range; m++) {
294  pixels_array[m].x = src[i].x;
295  pixels_array[m].y = src[i].y;
296  pixels_array[m].depth = m + min_distance;
297  }
298 
299  TYMapDepthToPoint3d(color_calib, rgbW, rgbH, pixels_array, m_distance_range, &p3d_array[0], f_scale_unit);
300  TYMapPoint3dToPoint3d(&extri, &p3d_array[0], m_distance_range, &p3d_array[0]);
301 
302  TYMapPoint3dToDepth(depth_calib, p3d_array, m_distance_range, depthW, depthH, pixels_mapped_array);
303 
304  uint16_t m_min_delt = 0xffff;
305  dst[i].x = -1;
306  dst[i].y = -1;
307  for (uint32_t m = 0; m < m_distance_range; m++) {
308  int16_t pixel_x = pixels_mapped_array[m].x;
309  int16_t pixel_y = pixels_mapped_array[m].y;
310  uint16_t delt = abs(pixels_mapped_array[m].depth - depth[pixel_y*depthW + pixel_x]);
311  if (delt < m_min_delt) {
312  m_min_delt = delt;
313  if (m_min_delt < 10) {
314  dst[i].x = pixel_x;
315  dst[i].y = pixel_y;
316  dst[i].bgr_ch1 = src[i].bgr_ch1;
317  dst[i].bgr_ch2 = src[i].bgr_ch2;
318  dst[i].bgr_ch3 = src[i].bgr_ch3;
319  }
320  }
321  }
322  }
323 
324  free(pixels_array);
325  free(pixels_mapped_array);
326  free(p3d_array);
327 
328 
329  return TY_STATUS_OK;
330 }
331 
332 static inline TY_STATUS TYCreateDepthToColorCoordinateLookupTable(
333  const TY_CAMERA_CALIB_INFO* depth_calib,
334  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
335  const TY_CAMERA_CALIB_INFO* color_calib,
336  uint32_t mappedW, uint32_t mappedH,
337  TY_PIXEL_DESC* lut,
338  float f_scale_unit)
339 {
340  TY_VECT_3F* p3d = (TY_VECT_3F*)malloc(sizeof(TY_VECT_3F) * depthW * depthH);
341  TYMAP_CHECKRET(TYMapDepthImageToPoint3d(depth_calib, depthW, depthH, depth, p3d, f_scale_unit), p3d);
342  TY_CAMERA_EXTRINSIC extri_inv;
343  TYMAP_CHECKRET(TYInvertExtrinsic(&color_calib->extrinsic, &extri_inv), p3d);
344  TYMAP_CHECKRET(TYMapPoint3dToPoint3d(&extri_inv, p3d, depthW * depthH, p3d), p3d);
345  TYMAP_CHECKRET(TYMapPoint3dToDepth(color_calib, p3d, depthW * depthH, mappedW, mappedH, lut), p3d );
346  free(p3d);
347  return TY_STATUS_OK;
348 }
349 
350 
351 static inline TY_STATUS TYMapRGBImageToDepthCoordinate(
352  const TY_CAMERA_CALIB_INFO* depth_calib,
353  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
354  const TY_CAMERA_CALIB_INFO* color_calib,
355  uint32_t rgbW, uint32_t rgbH, const uint8_t* inRgb,
356  uint8_t* mappedRgb, float f_scale_unit)
357 {
358  TY_PIXEL_DESC* lut = (TY_PIXEL_DESC*)malloc(sizeof(TY_PIXEL_DESC) * depthW * depthH);
359  TYMAP_CHECKRET(TYCreateDepthToColorCoordinateLookupTable(
360  depth_calib, depthW, depthH, depth,
361  color_calib, rgbW, rgbH, lut, f_scale_unit), lut);
362  for(uint32_t depthr = 0; depthr < depthH; depthr++)
363  for(uint32_t depthc = 0; depthc < depthW; depthc++)
364  {
365  TY_PIXEL_DESC* plut = &lut[depthr * depthW + depthc];
366  uint8_t* outPtr = &mappedRgb[depthW * depthr * 3 + depthc * 3];
367  if(plut->x < 0 || plut->x >= (int)rgbW || plut->y < 0 || plut->y >= (int)rgbH){
368  outPtr[0] = outPtr[1] = outPtr[2] = 0;
369  } else {
370  const uint8_t* inPtr = &inRgb[rgbW * plut->y * 3 + plut->x * 3];
371  outPtr[0] = inPtr[0];
372  outPtr[1] = inPtr[1];
373  outPtr[2] = inPtr[2];
374  }
375  }
376  free(lut);
377  return TY_STATUS_OK;
378 }
379 
380 
381 static inline TY_STATUS TYMapMono8ImageToDepthCoordinate(
382  const TY_CAMERA_CALIB_INFO* depth_calib,
383  uint32_t depthW, uint32_t depthH, const uint16_t* depth,
384  const TY_CAMERA_CALIB_INFO* color_calib,
385  uint32_t monoW, uint32_t monoH, const uint8_t* inMono,
386  uint8_t* mappedMono, float f_scale_unit)
387 {
388  TY_PIXEL_DESC* lut = (TY_PIXEL_DESC*)malloc(sizeof(TY_PIXEL_DESC) * depthW * depthH);
389  TYMAP_CHECKRET(TYCreateDepthToColorCoordinateLookupTable(
390  depth_calib, depthW, depthH, depth,
391  color_calib, monoW, monoH, lut, f_scale_unit), lut);
392  for(uint32_t depthr = 0; depthr < depthH; depthr++)
393  for(uint32_t depthc = 0; depthc < depthW; depthc++)
394  {
395  TY_PIXEL_DESC* plut = &lut[depthr * depthW + depthc];
396  uint8_t* outPtr = &mappedMono[depthW * depthr + depthc];
397  if(plut->x < 0 || plut->x >= (int)monoW || plut->y < 0 || plut->y >= (int)monoH){
398  outPtr[0] = 0;
399  } else {
400  const uint8_t* inPtr = &inMono[monoW * plut->y + plut->x];
401  outPtr[0] = inPtr[0];
402  }
403  }
404  free(lut);
405  return TY_STATUS_OK;
406 }
407 
408 
409 #endif
TYInvertExtrinsic
TY_CAPI TYInvertExtrinsic(const TY_CAMERA_EXTRINSIC *orgExtrinsic, TY_CAMERA_EXTRINSIC *invExtrinsic)
Calculate 4x4 extrinsic matrix&#39;s inverse matrix.
TYMapPoint3dToPoint3d
TY_CAPI TYMapPoint3dToPoint3d(const TY_CAMERA_EXTRINSIC *extrinsic, const TY_VECT_3F *point3dFrom, int32_t count, TY_VECT_3F *point3dTo)
Map 3D points to another coordinate.
- -
TYMapPoint3dToDepth
TY_CAPI TYMapPoint3dToDepth(const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, TY_PIXEL_DESC *depth)
Map 3D points to pixels on depth image. Reverse operation of TYMapDepthToPoint3d. ...
TYMapDepthToPoint3d
TY_CAPI TYMapDepthToPoint3d(const TY_CAMERA_CALIB_INFO *src_calib, uint32_t depthW, uint32_t depthH, const TY_PIXEL_DESC *depthPixels, uint32_t count, TY_VECT_3F *point3d, float f_scale_unit=1.0f)
Map pixels on depth image to 3D points.
+
TYMapDepthImageToPoint3d
TY_CAPI TYMapDepthImageToPoint3d(const TY_CAMERA_CALIB_INFO *src_calib, int32_t imageW, int32_t imageH, const uint16_t *depth, TY_VECT_3F *point3d, float f_scale_unit=1.0f)
Map depth image to 3D points. 0 depth pixels maps to (NAN, NAN, NAN).
TYMapPoint3dToDepthImage
TY_CAPI TYMapPoint3dToDepthImage(const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, uint16_t *depth)
Map 3D points to depth image. (NAN, NAN, NAN) will be skipped.
- - - + + +
TYApi.h
TYApi.h includes camera control and data receiving interface, which supports configuration for image ...
+
diff --git a/Doc/html/a00008.html b/Doc/html/a00008.html index b5d9f42..516a496 100644 --- a/Doc/html/a00008.html +++ b/Doc/html/a00008.html @@ -112,11 +112,11 @@ - - + + - - + +

Classes

struct  DepthSpeckleFilterParameters
 default parameter value definition More...
struct  DepthSpeckleFilterParameters
 default parameter value definition More...
 
struct  DepthEnhenceParameters
 default parameter value definition More...
struct  DepthEnhenceParameters
 default parameter value definition More...
 

@@ -130,13 +130,13 @@

- + - + - +

Functions

TY_CAPI TYUndistortImage (const TY_CAMERA_CALIB_INFO *srcCalibInfo, const TY_IMAGE_DATA *srcImage, const TY_CAMERA_INTRINSIC *cameraNewIntrinsic, TY_IMAGE_DATA *dstImage)
TY_CAPI TYUndistortImage (const TY_CAMERA_CALIB_INFO *srcCalibInfo, const TY_IMAGE_DATA *srcImage, const TY_CAMERA_INTRINSIC *cameraNewIntrinsic, TY_IMAGE_DATA *dstImage)
 Do image undistortion, only support TY_PIXEL_FORMAT_MONO ,TY_PIXEL_FORMAT_RGB,TY_PIXEL_FORMAT_BGR. More...
 
TY_CAPI TYDepthSpeckleFilter (TY_IMAGE_DATA *depthImage, const DepthSpeckleFilterParameters *param)
TY_CAPI TYDepthSpeckleFilter (TY_IMAGE_DATA *depthImage, const DepthSpeckleFilterParameters *param)
 Remove speckles on depth image. More...
 
TY_CAPI TYDepthEnhenceFilter (const TY_IMAGE_DATA *depthImages, int imageNum, TY_IMAGE_DATA *guide, TY_IMAGE_DATA *output, const DepthEnhenceParameters *param)
TY_CAPI TYDepthEnhenceFilter (const TY_IMAGE_DATA *depthImages, int imageNum, TY_IMAGE_DATA *guide, TY_IMAGE_DATA *output, const DepthEnhenceParameters *param)
 Remove speckles on depth image. More...
 
@@ -154,7 +154,7 @@

TY_CAPI TYDepthEnhenceFilter ( - const TY_IMAGE_DATA *  + const TY_IMAGE_DATA *  depthImages, @@ -166,19 +166,19 @@

- TY_IMAGE_DATA *  + TY_IMAGE_DATA *  guide, - TY_IMAGE_DATA *  + TY_IMAGE_DATA *  output, - const DepthEnhenceParameters *  + const DepthEnhenceParameters *  param  @@ -221,13 +221,13 @@

TY_CAPI TYDepthSpeckleFilter ( - TY_IMAGE_DATA *  + TY_IMAGE_DATA *  depthImage, - const DepthSpeckleFilterParameters *  + const DepthSpeckleFilterParameters *  param  @@ -266,25 +266,25 @@

TY_CAPI TYUndistortImage ( - const TY_CAMERA_CALIB_INFO *  + const TY_CAMERA_CALIB_INFO *  srcCalibInfo, - const TY_IMAGE_DATA *  + const TY_IMAGE_DATA *  srcImage, - const TY_CAMERA_INTRINSIC *  + const TY_CAMERA_INTRINSIC *  cameraNewIntrinsic, - TY_IMAGE_DATA *  + TY_IMAGE_DATA *  dstImage  diff --git a/Doc/html/a00008.js b/Doc/html/a00008.js index ecbfb1d..0c4cc83 100644 --- a/Doc/html/a00008.js +++ b/Doc/html/a00008.js @@ -1,7 +1,7 @@ var a00008 = [ - [ "DepthSpeckleFilterParameters", "a00169.html", "a00169" ], - [ "DepthEnhenceParameters", "a00173.html", "a00173" ], + [ "DepthSpeckleFilterParameters", "a00153.html", "a00153" ], + [ "DepthEnhenceParameters", "a00157.html", "a00157" ], [ "DepthEnhenceParameters_Initializer", "a00008.html#a76fde32b9f3093e7ba194683b7121bd6", null ], [ "DepthSpeckleFilterParameters_Initializer", "a00008.html#ae8c400e207ceaa196d72c4473ea83563", null ], [ "TYDepthEnhenceFilter", "a00008.html#af8bb2a45b6fd8b542d250e2cd04e6d53", null ], diff --git a/Doc/html/a00008_source.html b/Doc/html/a00008_source.html index 36c94b1..54eabca 100644 --- a/Doc/html/a00008_source.html +++ b/Doc/html/a00008_source.html @@ -90,20 +90,20 @@
TYImageProc.h
-Go to the documentation of this file.
1 
6 #ifndef TY_IMAGE_PROC_H_
7 #define TY_IMAGE_PROC_H_
8 
9 
10 #include "TYApi.h"
11 #include "TYCoordinateMapper.h"
12 #include "TyIsp.h"
13 
22 TY_CAPI TYUndistortImage (const TY_CAMERA_CALIB_INFO *srcCalibInfo
23  , const TY_IMAGE_DATA *srcImage
24  , const TY_CAMERA_INTRINSIC *cameraNewIntrinsic
25  , TY_IMAGE_DATA *dstImage
26  );
27 
28 
29 // -----------------------------------------------------------
30 struct DepthSpeckleFilterParameters {
31  int max_speckle_size; // blob size smaller than this will be removed
32  int max_speckle_diff; // Maximum difference between neighbor disparity pixels
33 };
34 
36 #define DepthSpeckleFilterParameters_Initializer {150, 64}
37 
44 TY_CAPI TYDepthSpeckleFilter (TY_IMAGE_DATA* depthImage
45  , const DepthSpeckleFilterParameters* param
46  );
47 
48 
49 // -----------------------------------------------------------
50 struct DepthEnhenceParameters{
51  float sigma_s;
52  float sigma_r;
53  int outlier_win_sz;
54  float outlier_rate;
55 };
56 
58 #define DepthEnhenceParameters_Initializer {10, 20, 10, 0.1f}
59 
70 TY_CAPI TYDepthEnhenceFilter (const TY_IMAGE_DATA* depthImages
71  , int imageNum
72  , TY_IMAGE_DATA *guide
73  , TY_IMAGE_DATA *output
74  , const DepthEnhenceParameters* param
75  );
76 
77 
78 #endif
TYCoordinateMapper.h
Coordinate Conversion API.
-
DepthEnhenceParameters::sigma_s
float sigma_s
filter param on space
Definition: TYImageProc.h:51
+Go to the documentation of this file.
1 
6 #ifndef TY_IMAGE_PROC_H_
7 #define TY_IMAGE_PROC_H_
8 
9 
10 #include "TYApi.h"
11 #include "TYCoordinateMapper.h"
12 #include "TyIsp.h"
13 
22 TY_CAPI TYUndistortImage (const TY_CAMERA_CALIB_INFO *srcCalibInfo
23  , const TY_IMAGE_DATA *srcImage
24  , const TY_CAMERA_INTRINSIC *cameraNewIntrinsic
25  , TY_IMAGE_DATA *dstImage
26  );
27 
28 
29 // -----------------------------------------------------------
30 struct DepthSpeckleFilterParameters {
31  int max_speckle_size; // blob size smaller than this will be removed
32  int max_speckle_diff; // Maximum difference between neighbor disparity pixels
33 };
34 
36 #define DepthSpeckleFilterParameters_Initializer {150, 64}
37 
44 TY_CAPI TYDepthSpeckleFilter (TY_IMAGE_DATA* depthImage
45  , const DepthSpeckleFilterParameters* param
46  );
47 
48 
49 // -----------------------------------------------------------
50 struct DepthEnhenceParameters{
51  float sigma_s;
52  float sigma_r;
53  int outlier_win_sz;
54  float outlier_rate;
55 };
56 
58 #define DepthEnhenceParameters_Initializer {10, 20, 10, 0.1f}
59 
70 TY_CAPI TYDepthEnhenceFilter (const TY_IMAGE_DATA* depthImages
71  , int imageNum
72  , TY_IMAGE_DATA *guide
73  , TY_IMAGE_DATA *output
74  , const DepthEnhenceParameters* param
75  );
76 
77 
78 #endif
+
DepthEnhenceParameters::sigma_r
float sigma_r
filter param on range
Definition: TYImageProc.h:52
+
DepthEnhenceParameters::outlier_win_sz
int outlier_win_sz
outlier filter windows ize
Definition: TYImageProc.h:53
+
TYCoordinateMapper.h
Coordinate Conversion API.
TYDepthSpeckleFilter
TY_CAPI TYDepthSpeckleFilter(TY_IMAGE_DATA *depthImage, const DepthSpeckleFilterParameters *param)
Remove speckles on depth image.
-
TYDepthEnhenceFilter
TY_CAPI TYDepthEnhenceFilter(const TY_IMAGE_DATA *depthImages, int imageNum, TY_IMAGE_DATA *guide, TY_IMAGE_DATA *output, const DepthEnhenceParameters *param)
Remove speckles on depth image.
-
DepthSpeckleFilterParameters
default parameter value definition
Definition: TYImageProc.h:30
-
DepthEnhenceParameters::sigma_r
float sigma_r
filter param on range
Definition: TYImageProc.h:52
- - +
DepthEnhenceParameters
default parameter value definition
Definition: TYImageProc.h:50
+ +
DepthEnhenceParameters::sigma_s
float sigma_s
filter param on space
Definition: TYImageProc.h:51
+
DepthSpeckleFilterParameters
default parameter value definition
Definition: TYImageProc.h:30
TYApi.h
TYApi.h includes camera control and data receiving interface, which supports configuration for image ...
TYUndistortImage
TY_CAPI TYUndistortImage(const TY_CAMERA_CALIB_INFO *srcCalibInfo, const TY_IMAGE_DATA *srcImage, const TY_CAMERA_INTRINSIC *cameraNewIntrinsic, TY_IMAGE_DATA *dstImage)
Do image undistortion, only support TY_PIXEL_FORMAT_MONO ,TY_PIXEL_FORMAT_RGB,TY_PIXEL_FORMAT_BGR.
-
DepthEnhenceParameters::outlier_win_sz
int outlier_win_sz
outlier filter windows ize
Definition: TYImageProc.h:53
-
DepthEnhenceParameters
default parameter value definition
Definition: TYImageProc.h:50
+
diff --git a/Doc/html/a00011.html b/Doc/html/a00011.html index d58a1fc..47fa460 100644 --- a/Doc/html/a00011.html +++ b/Doc/html/a00011.html @@ -118,7 +118,7 @@ - +

Classes

struct  TY_ISP_FEATURE_INFO
struct  TY_ISP_FEATURE_INFO
 
+TYISP_CAPI  +TYISP_CAPI 

@@ -217,13 +217,13 @@ TYISP_CAPI 

TYISPHasFeature (TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id)
 
-TYISP_CAPI TYISPGetFeatureInfoList (TY_ISP_HANDLE handle, TY_ISP_FEATURE_INFO *info_buffer, int buffer_size)
TYISPGetFeatureInfoList (TY_ISP_HANDLE handle, TY_ISP_FEATURE_INFO *info_buffer, int buffer_size)
 
TYISP_CAPI TYISPGetFeatureInfoListSize (TY_ISP_HANDLE handle, int32_t *buffer_size)
 
-TYISP_CAPI TYISPProcessImage (TY_ISP_HANDLE handle, const TY_IMAGE_DATA *image_bayer, TY_IMAGE_DATA *image_out)
TYISPProcessImage (TY_ISP_HANDLE handle, const TY_IMAGE_DATA *image_bayer, TY_IMAGE_DATA *image_out)
 convert bayer raw image to rgb image,output buffer is allocated by invoker
 
diff --git a/Doc/html/a00011.js b/Doc/html/a00011.js index 5264b7d..deeac2e 100644 --- a/Doc/html/a00011.js +++ b/Doc/html/a00011.js @@ -1,6 +1,6 @@ var a00011 = [ - [ "TY_ISP_FEATURE_INFO", "a00177.html", "a00177" ], + [ "TY_ISP_FEATURE_INFO", "a00161.html", "a00161" ], [ "TYISP_CAPI", "a00011.html#a2a2a99d142b9cd8aaa53ea73a1a2b1c3", null ], [ "TY_ISP_HANDLE", "a00011.html#afc7c121fcf98a2c8979d2216c5463251", null ], [ "TY_DEMOSAIC_METHOD", "a00011.html#ad5aa0c7fb4aca569a5985c7cd1c1c633", [ diff --git a/Doc/html/a00011_source.html b/Doc/html/a00011_source.html index 10ad5fa..d9ebcf8 100644 --- a/Doc/html/a00011_source.html +++ b/Doc/html/a00011_source.html @@ -90,21 +90,21 @@
TyIsp.h
-Go to the documentation of this file.
1 
9 #ifndef TY_COLOR_ISP_H_
10 #define TY_COLOR_ISP_H_
11 #include "TYApi.h"
12 
13 #define TYISP_CAPI TY_CAPI
14 
15 typedef void* TY_ISP_HANDLE;
16 
17 typedef enum{
18  TY_ISP_FEATURE_CAM_MODEL = 0x000000,
19  TY_ISP_FEATURE_CAM_DEV_HANDLE = 0x000001,
20  TY_ISP_FEATURE_CAM_DEV_COMPONENT = 0x000002,
21  TY_ISP_FEATURE_IMAGE_SIZE = 0x000100,
22  TY_ISP_FEATURE_WHITEBALANCE_GAIN = 0x000200,
23  TY_ISP_FEATURE_ENABLE_AUTO_WHITEBALANCE = 0x000300,
24  TY_ISP_FEATURE_SHADING = 0x000400,
25  TY_ISP_FEATURE_SHADING_CENTER = 0x000500,
26  TY_ISP_FEATURE_BLACK_LEVEL = 0x000600,
27  TY_ISP_FEATURE_BLACK_LEVEL_COLUMN = 0x000610,
28  TY_ISP_FEATURE_BLACK_LEVEL_GAIN = 0x000700,
29  TY_ISP_FEATURE_BLACK_LEVEL_GAIN_COLUMN = 0x000710,
30  TY_ISP_FEATURE_BAYER_PATTERN = 0x000800,
31  TY_ISP_FEATURE_DEMOSAIC_METHOD = 0x000900,
32  TY_ISP_FEATURE_GAMMA = 0x000A00,
33  TY_ISP_FEATURE_DEFECT_PIXEL_LIST = 0x000B00,
34  TY_ISP_FEATURE_CCM = 0x000C00,
35  TY_ISP_FEATURE_CCM_ENABLE = 0x000C10,
36  TY_ISP_FEATURE_BRIGHT = 0x000D00,
37  TY_ISP_FEATURE_CONTRAST = 0x000E00,
38  TY_ISP_FEATURE_AUTOBRIGHT = 0x000F00,
39  TY_ISP_FEATURE_INPUT_RESAMPLE_SCALE = 0x001000, //<set this if bayer image resampled before softisp process.
40  TY_ISP_FEATURE_ENABLE_AUTO_EXPOSURE_GAIN = 0x001100,
41  TY_ISP_FEATURE_AUTO_EXPOSURE_RANGE = 0x001200,
42  TY_ISP_FEATURE_AUTO_GAIN_RANGE = 0x001300,
43  TY_ISP_FEATURE_AUTO_EXPOSURE_UPDATE_INTERVAL = 0x001400,
44  TY_ISP_FEATURE_DEBUG_LOG = 0xff000000,
45 
46 } TY_ISP_FEATURE_ID;
47 
48 typedef enum{
49  TY_ISP_BAYER_GB = 0,
50  TY_ISP_BAYER_BG = 1,
51  TY_ISP_BAYER_RG = 2,
52  TY_ISP_BAYER_GR = 3,
53  TY_ISP_BAYER_AUTO = 0xff,
54 }TY_ISP_BAYER_PATTERN;
55 
56 typedef enum{
57  TY_DEMOSAIC_METHOD_SIMPLE = 0,
58  TY_DEMOSAIC_METHOD_BILINEAR = 1,
59  TY_DEMOSAIC_METHOD_HQLINEAR = 2,
60  TY_DEMOSAIC_METHOD_EDGESENSE = 3,
61 } TY_DEMOSAIC_METHOD;
62 
63 typedef struct{
64  TY_ISP_FEATURE_ID id;
65  int32_t size;
66  const char * name;
67  const char * value_type;
68  TY_ACCESS_MODE mode;
69 } TY_ISP_FEATURE_INFO;
70 
71 TYISP_CAPI TYISPCreate(TY_ISP_HANDLE *handle);
72 TYISP_CAPI TYISPRelease(TY_ISP_HANDLE *handle);
73 TYISP_CAPI TYISPLoadConfig(TY_ISP_HANDLE handle,const uint8_t *config, uint32_t config_size);
75 TYISP_CAPI TYISPUpdateDevice(TY_ISP_HANDLE handle);
76 
77 TYISP_CAPI TYISPSetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, const uint8_t *data, int32_t size);
78 TYISP_CAPI TYISPGetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, uint8_t *data_buff, int32_t buff_size);
79 TYISP_CAPI TYISPGetFeatureSize(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, int32_t *size);
80 
81 TYISP_CAPI TYISPHasFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id);
82 TYISP_CAPI TYISPGetFeatureInfoList(TY_ISP_HANDLE handle, TY_ISP_FEATURE_INFO *info_buffer, int buffer_size);
83 TYISP_CAPI TYISPGetFeatureInfoListSize(TY_ISP_HANDLE handle, int32_t *buffer_size);
85 TYISP_CAPI TYISPProcessImage(TY_ISP_HANDLE handle,const TY_IMAGE_DATA *image_bayer, TY_IMAGE_DATA *image_out);
86 
87 #ifdef __cplusplus
88 static inline TY_STATUS TYISPSetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, int value){
89  return TYISPSetFeature(handle, feature_id, (uint8_t*)&(value), sizeof(int));
90 }
91 
92 
93 static inline TY_STATUS TYISPGetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, int *value){
94  return TYISPGetFeature(handle, feature_id, (uint8_t*)value, sizeof(int));
95 }
96 
97 static inline TY_STATUS TYISPSetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, float value){
98  return TYISPSetFeature(handle, feature_id, (uint8_t*)&(value), sizeof(float));
99 }
100 
101 
102 static inline TY_STATUS TYISPGetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, float *value){
103  return TYISPGetFeature(handle, feature_id, (uint8_t*)value, sizeof(float));
104 }
105 
106 #endif
107 
108 #endif
109 
TY_ISP_FEATURE_CCM_ENABLE
ENABLE CCM.
Definition: TyIsp.h:35
+Go to the documentation of this file.
1 
9 #ifndef TY_COLOR_ISP_H_
10 #define TY_COLOR_ISP_H_
11 #include "TYApi.h"
12 
13 #define TYISP_CAPI TY_CAPI
14 
15 typedef void* TY_ISP_HANDLE;
16 
17 typedef enum{
18  TY_ISP_FEATURE_CAM_MODEL = 0x000000,
19  TY_ISP_FEATURE_CAM_DEV_HANDLE = 0x000001,
20  TY_ISP_FEATURE_CAM_DEV_COMPONENT = 0x000002,
21  TY_ISP_FEATURE_IMAGE_SIZE = 0x000100,
22  TY_ISP_FEATURE_WHITEBALANCE_GAIN = 0x000200,
23  TY_ISP_FEATURE_ENABLE_AUTO_WHITEBALANCE = 0x000300,
24  TY_ISP_FEATURE_SHADING = 0x000400,
25  TY_ISP_FEATURE_SHADING_CENTER = 0x000500,
26  TY_ISP_FEATURE_BLACK_LEVEL = 0x000600,
27  TY_ISP_FEATURE_BLACK_LEVEL_COLUMN = 0x000610,
28  TY_ISP_FEATURE_BLACK_LEVEL_GAIN = 0x000700,
29  TY_ISP_FEATURE_BLACK_LEVEL_GAIN_COLUMN = 0x000710,
30  TY_ISP_FEATURE_BAYER_PATTERN = 0x000800,
31  TY_ISP_FEATURE_DEMOSAIC_METHOD = 0x000900,
32  TY_ISP_FEATURE_GAMMA = 0x000A00,
33  TY_ISP_FEATURE_DEFECT_PIXEL_LIST = 0x000B00,
34  TY_ISP_FEATURE_CCM = 0x000C00,
35  TY_ISP_FEATURE_CCM_ENABLE = 0x000C10,
36  TY_ISP_FEATURE_BRIGHT = 0x000D00,
37  TY_ISP_FEATURE_CONTRAST = 0x000E00,
38  TY_ISP_FEATURE_AUTOBRIGHT = 0x000F00,
39  TY_ISP_FEATURE_INPUT_RESAMPLE_SCALE = 0x001000,
40  TY_ISP_FEATURE_ENABLE_AUTO_EXPOSURE_GAIN = 0x001100,
41  TY_ISP_FEATURE_AUTO_EXPOSURE_RANGE = 0x001200,
42  TY_ISP_FEATURE_AUTO_GAIN_RANGE = 0x001300,
43  TY_ISP_FEATURE_AUTO_EXPOSURE_UPDATE_INTERVAL = 0x001400,
44  TY_ISP_FEATURE_DEBUG_LOG = 0xff000000,
45 
46 } TY_ISP_FEATURE_ID;
47 
48 typedef enum{
49  TY_ISP_BAYER_GB = 0,
50  TY_ISP_BAYER_BG = 1,
51  TY_ISP_BAYER_RG = 2,
52  TY_ISP_BAYER_GR = 3,
53  TY_ISP_BAYER_AUTO = 0xff,
54 }TY_ISP_BAYER_PATTERN;
55 
56 typedef enum{
57  TY_DEMOSAIC_METHOD_SIMPLE = 0,
58  TY_DEMOSAIC_METHOD_BILINEAR = 1,
59  TY_DEMOSAIC_METHOD_HQLINEAR = 2,
60  TY_DEMOSAIC_METHOD_EDGESENSE = 3,
61 } TY_DEMOSAIC_METHOD;
62 
63 typedef struct{
64  TY_ISP_FEATURE_ID id;
65  int32_t size;
66  const char * name;
67  const char * value_type;
68  TY_ACCESS_MODE mode;
69 } TY_ISP_FEATURE_INFO;
70 
71 TYISP_CAPI TYISPCreate(TY_ISP_HANDLE *handle);
72 TYISP_CAPI TYISPRelease(TY_ISP_HANDLE *handle);
73 TYISP_CAPI TYISPLoadConfig(TY_ISP_HANDLE handle,const uint8_t *config, uint32_t config_size);
75 TYISP_CAPI TYISPUpdateDevice(TY_ISP_HANDLE handle);
76 
77 TYISP_CAPI TYISPSetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, const uint8_t *data, int32_t size);
78 TYISP_CAPI TYISPGetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, uint8_t *data_buff, int32_t buff_size);
79 TYISP_CAPI TYISPGetFeatureSize(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, int32_t *size);
80 
81 TYISP_CAPI TYISPHasFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id);
82 TYISP_CAPI TYISPGetFeatureInfoList(TY_ISP_HANDLE handle, TY_ISP_FEATURE_INFO *info_buffer, int buffer_size);
83 TYISP_CAPI TYISPGetFeatureInfoListSize(TY_ISP_HANDLE handle, int32_t *buffer_size);
85 TYISP_CAPI TYISPProcessImage(TY_ISP_HANDLE handle,const TY_IMAGE_DATA *image_bayer, TY_IMAGE_DATA *image_out);
86 
87 #ifdef __cplusplus
88 static inline TY_STATUS TYISPSetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, int value){
89  return TYISPSetFeature(handle, feature_id, (uint8_t*)&(value), sizeof(int));
90 }
91 
92 
93 static inline TY_STATUS TYISPGetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, int *value){
94  return TYISPGetFeature(handle, feature_id, (uint8_t*)value, sizeof(int));
95 }
96 
97 static inline TY_STATUS TYISPSetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, float value){
98  return TYISPSetFeature(handle, feature_id, (uint8_t*)&(value), sizeof(float));
99 }
100 
101 
102 static inline TY_STATUS TYISPGetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, float *value){
103  return TYISPGetFeature(handle, feature_id, (uint8_t*)value, sizeof(float));
104 }
105 
106 #endif
107 
108 #endif
109 
TY_ISP_FEATURE_CCM_ENABLE
ENABLE CCM.
Definition: TyIsp.h:35
TY_ISP_FEATURE_BLACK_LEVEL
global black level
Definition: TyIsp.h:26
TY_ISP_FEATURE_BLACK_LEVEL_GAIN
global pixel gain
Definition: TyIsp.h:28
TY_ISP_FEATURE_AUTO_GAIN_RANGE
gain range ,default no limit
Definition: TyIsp.h:42
TY_ISP_FEATURE_BLACK_LEVEL_GAIN_COLUMN
to set different gain for each image column
Definition: TyIsp.h:29
TY_ISP_FEATURE_ID
TY_ISP_FEATURE_ID
Definition: TyIsp.h:17
TY_ISP_FEATURE_CAM_DEV_COMPONENT
the component to control
Definition: TyIsp.h:20
+
TY_ISP_FEATURE_CAM_DEV_HANDLE
device handle for device control
Definition: TyIsp.h:19
TY_ISP_FEATURE_IMAGE_SIZE
image size width&height
Definition: TyIsp.h:21
TY_ISP_FEATURE_AUTO_EXPOSURE_UPDATE_INTERVAL
update device exposure interval , default 5 frame
Definition: TyIsp.h:43
TYISPUpdateDevice
TYISP_CAPI TYISPUpdateDevice(TY_ISP_HANDLE handle)
called by main thread to update & control device status for ISP
- +
TY_ISP_FEATURE_DEBUG_LOG
display detail log information
Definition: TyIsp.h:44
TY_ISP_FEATURE_AUTO_EXPOSURE_RANGE
exposure range ,default no limit
Definition: TyIsp.h:41
-
TY_ISP_FEATURE_BLACK_LEVEL_COLUMN
to set different black level for each image column
Definition: TyIsp.h:27
TYISPProcessImage
TYISP_CAPI TYISPProcessImage(TY_ISP_HANDLE handle, const TY_IMAGE_DATA *image_bayer, TY_IMAGE_DATA *image_out)
convert bayer raw image to rgb image,output buffer is allocated by invoker
TYApi.h
TYApi.h includes camera control and data receiving interface, which supports configuration for image ...
diff --git a/Doc/html/a00017.html b/Doc/html/a00017.html index aa3eab2..e9cb534 100644 --- a/Doc/html/a00017.html +++ b/Doc/html/a00017.html @@ -111,7 +111,7 @@

Detailed Description

-

Definition at line 490 of file TYApi.h.

+

Definition at line 505 of file TYApi.h.

The documentation for this struct was generated from the following file: diff --git a/Doc/html/a00021.html b/Doc/html/a00021.html index ba6ec61..3035bf3 100644 --- a/Doc/html/a00021.html +++ b/Doc/html/a00021.html @@ -117,7 +117,7 @@

Detailed Description

-

Definition at line 498 of file TYApi.h.

+

Definition at line 513 of file TYApi.h.

The documentation for this struct was generated from the following file: diff --git a/Doc/html/a00025.html b/Doc/html/a00025.html index 8b5fd66..abdaf1f 100644 --- a/Doc/html/a00025.html +++ b/Doc/html/a00025.html @@ -108,7 +108,7 @@

Detailed Description

-

Definition at line 508 of file TYApi.h.

+

Definition at line 523 of file TYApi.h.

The documentation for this struct was generated from the following file: diff --git a/Doc/html/a00029.html b/Doc/html/a00029.html index c189953..c82ef81 100644 --- a/Doc/html/a00029.html +++ b/Doc/html/a00029.html @@ -125,7 +125,7 @@

Detailed Description

See also
TYGetInterfaceList
-

Definition at line 516 of file TYApi.h.

+

Definition at line 531 of file TYApi.h.

The documentation for this struct was generated from the following file: diff --git a/Doc/html/a00033.html b/Doc/html/a00033.html index bf5c939..904a413 100644 --- a/Doc/html/a00033.html +++ b/Doc/html/a00033.html @@ -157,7 +157,7 @@

Detailed Description

See also
TYGetDeviceList
-

Definition at line 526 of file TYApi.h.

+

Definition at line 541 of file TYApi.h.

The documentation for this struct was generated from the following file: diff --git a/Doc/html/a00041.html b/Doc/html/a00041.html index b295eac..bbd5165 100644 --- a/Doc/html/a00041.html +++ b/Doc/html/a00041.html @@ -137,7 +137,7 @@

Detailed Description

-

Definition at line 544 of file TYApi.h.

+

Definition at line 559 of file TYApi.h.

The documentation for this struct was generated from the following file: diff --git a/Doc/html/a00045.html b/Doc/html/a00045.html index ad41690..8bec6c5 100644 --- a/Doc/html/a00045.html +++ b/Doc/html/a00045.html @@ -112,7 +112,7 @@

Detailed Description

-

Definition at line 558 of file TYApi.h.

+

Definition at line 573 of file TYApi.h.

The documentation for this struct was generated from the following file: diff --git a/Doc/html/a00049.html b/Doc/html/a00049.html index 2695e56..b4dc3e2 100644 --- a/Doc/html/a00049.html +++ b/Doc/html/a00049.html @@ -112,7 +112,7 @@

Detailed Description

-

Definition at line 566 of file TYApi.h.

+

Definition at line 581 of file TYApi.h.

The documentation for this struct was generated from the following file: diff --git a/Doc/html/a00050.html b/Doc/html/a00050.html index a89bc55..a0d5571 100644 --- a/Doc/html/a00050.html +++ b/Doc/html/a00050.html @@ -87,15 +87,15 @@
-
TY_BYTEARRAY_ATTR Member List
+
TY_ENUM_ENTRY Member List
-

This is the complete list of members for TY_BYTEARRAY_ATTR, including all inherited members.

+

This is the complete list of members for TY_ENUM_ENTRY, including all inherited members.

- - - + + +
size (defined in TY_BYTEARRAY_ATTR)TY_BYTEARRAY_ATTR
unit_sizeTY_BYTEARRAY_ATTR
valid_sizeTY_BYTEARRAY_ATTR
description (defined in TY_ENUM_ENTRY)TY_ENUM_ENTRY
reserved (defined in TY_ENUM_ENTRY)TY_ENUM_ENTRY
value (defined in TY_ENUM_ENTRY)TY_ENUM_ENTRY
diff --git a/Doc/html/a00053.html b/Doc/html/a00053.html index ed37879..856ae62 100644 --- a/Doc/html/a00053.html +++ b/Doc/html/a00053.html @@ -5,7 +5,7 @@ -TYCamport3: TY_BYTEARRAY_ATTR Struct Reference +TYCamport3: TY_ENUM_ENTRY Struct Reference @@ -90,44 +90,29 @@ Public Attributes | List of all members
-
TY_BYTEARRAY_ATTR Struct Reference
+
TY_ENUM_ENTRY Struct Reference
+ +

#include <TYApi.h>

- - - - - - - + + + + + +

Public Attributes

-int32_t size
 
-int32_t unit_size
 Bytes array size in bytes.
 
int32_t valid_size
 
+char description [64]
 
+int32_t value
 
+int32_t reserved [3]
 

Detailed Description

-
-

Definition at line 574 of file TYApi.h.

-

Member Data Documentation

- -

◆ valid_size

- -
-
- - - - -
int32_t TY_BYTEARRAY_ATTR::valid_size
-
-

unit size in bytes for special parse valid size in bytes in case has reserved member, Must be multiple of unit_size, mem_length = valid_size/unit_size

- -

Definition at line 580 of file TYApi.h.

+

enum feature entry information

See also
TYGetEnumEntryInfo
-
-
-
The documentation for this struct was generated from the following file:
The documentation for this struct was generated from the following file:
@@ -135,7 +120,7 @@

    -
  • TY_BYTEARRAY_ATTR
    • +
  • TY_ENUM_ENTRY
  • Generated by doxygen 1.8.14
    • diff --git a/Doc/html/a00053.js b/Doc/html/a00053.js index adec9b0..a0b152e 100644 --- a/Doc/html/a00053.js +++ b/Doc/html/a00053.js @@ -1,6 +1,6 @@ var a00053 = [ - [ "size", "a00053.html#acdf25a8f44c2b532a6f25b5447fec42e", null ], - [ "unit_size", "a00053.html#a98580d3f59f14a099c69d793fe1ee523", null ], - [ "valid_size", "a00053.html#a07ba18afdbaf51bfa57407eee61e25e8", null ] + [ "description", "a00053.html#a502a134d527e6454f7bdb2f24de64356", null ], + [ "reserved", "a00053.html#a017acd28c6f15676967c72aaf0c923c3", null ], + [ "value", "a00053.html#a66cf00b9e21c439a6b253215dc3c3237", null ] ]; \ No newline at end of file diff --git a/Doc/html/a00054.html b/Doc/html/a00054.html index 72bd732..a32e4f0 100644 --- a/Doc/html/a00054.html +++ b/Doc/html/a00054.html @@ -87,15 +87,15 @@
    -
    TY_ENUM_ENTRY Member List
    +
    TY_VECT_3F Member List
    -

    This is the complete list of members for TY_ENUM_ENTRY, including all inherited members.

    +

    This is the complete list of members for TY_VECT_3F, including all inherited members.

    - - - + + +
    description (defined in TY_ENUM_ENTRY)TY_ENUM_ENTRY
    reserved (defined in TY_ENUM_ENTRY)TY_ENUM_ENTRY
    value (defined in TY_ENUM_ENTRY)TY_ENUM_ENTRY
    x (defined in TY_VECT_3F)TY_VECT_3F
    y (defined in TY_VECT_3F)TY_VECT_3F
    z (defined in TY_VECT_3F)TY_VECT_3F
    diff --git a/Doc/html/a00057.html b/Doc/html/a00057.html index 7a4fcf5..46be47b 100644 --- a/Doc/html/a00057.html +++ b/Doc/html/a00057.html @@ -5,7 +5,7 @@ -TYCamport3: TY_ENUM_ENTRY Struct Reference +TYCamport3: TY_VECT_3F Struct Reference @@ -90,28 +90,25 @@ Public Attributes | List of all members
    -
    TY_ENUM_ENTRY Struct Reference
    +
    TY_VECT_3F Struct Reference
    - -

    #include <TYApi.h>

    - - - - - - + + + + + +

    Public Attributes

    -char description [64]
     
    -int32_t value
     
    -int32_t reserved [3]
     
    +float x
     
    +float y
     
    +float z
     

    Detailed Description

    -

    enum feature entry information

    See also
    TYGetEnumEntryInfo
    - -

    Definition at line 585 of file TYApi.h.

    +
    +

    Definition at line 598 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -120,7 +117,7 @@
    -

    This is the complete list of members for TY_VECT_3F, including all inherited members.

    +

    This is the complete list of members for TY_CAMERA_INTRINSIC, including all inherited members.

    - - - +
    x (defined in TY_VECT_3F)TY_VECT_3F
    y (defined in TY_VECT_3F)TY_VECT_3F
    z (defined in TY_VECT_3F)TY_VECT_3F
    data (defined in TY_CAMERA_INTRINSIC)TY_CAMERA_INTRINSIC
    diff --git a/Doc/html/a00061.html b/Doc/html/a00061.html index 0908ff9..178598c 100644 --- a/Doc/html/a00061.html +++ b/Doc/html/a00061.html @@ -5,7 +5,7 @@ -TYCamport3: TY_VECT_3F Struct Reference +TYCamport3: TY_CAMERA_INTRINSIC Struct Reference @@ -90,25 +90,32 @@ Public Attributes | List of all members
    -
    TY_VECT_3F Struct Reference
    +
    TY_CAMERA_INTRINSIC Struct Reference
    + +

    #include <TYApi.h>

    - - - - - - + +

    Public Attributes

    -float x
     
    -float y
     
    -float z
     
    +float data [3 *3]
     

    Detailed Description

    -
    -

    Definition at line 592 of file TYApi.h.

    +

    a 3x3 matrix
    +

    + + + + + + + + +
    . . .
    fx 0 cx
    0 fy cy
    0 0 1
    + +

    Definition at line 611 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -117,7 +124,7 @@
    -

    This is the complete list of members for TY_CAMERA_INTRINSIC, including all inherited members.

    +

    This is the complete list of members for TY_CAMERA_EXTRINSIC, including all inherited members.

    - +
    data (defined in TY_CAMERA_INTRINSIC)TY_CAMERA_INTRINSIC
    data (defined in TY_CAMERA_EXTRINSIC)TY_CAMERA_EXTRINSIC
    diff --git a/Doc/html/a00065.html b/Doc/html/a00065.html index 4e25343..0988945 100644 --- a/Doc/html/a00065.html +++ b/Doc/html/a00065.html @@ -5,7 +5,7 @@ -TYCamport3: TY_CAMERA_INTRINSIC Struct Reference +TYCamport3: TY_CAMERA_EXTRINSIC Struct Reference @@ -90,7 +90,7 @@ Public Attributes | List of all members
    -
    TY_CAMERA_INTRINSIC Struct Reference
    +
    TY_CAMERA_EXTRINSIC Struct Reference
    @@ -98,24 +98,25 @@ - - + +

    Public Attributes

    -float data [3 *3]
     
    +float data [4 *4]
     

    Detailed Description

    -

    a 3x3 matrix
    -

    +

    a 4x4 matrix

    - + - + - + - + + +
    . . .
    . . . .
    fx 0 cx
    r11 r12 r13 t1
    0 fy cy
    r21 r22 r23 t2
    0 0 1
    r31 r32 r33 t3
    0 0 0 1
    -

    Definition at line 605 of file TYApi.h.

    +

    Definition at line 623 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -124,7 +125,7 @@
    -

    This is the complete list of members for TY_CAMERA_EXTRINSIC, including all inherited members.

    +

    This is the complete list of members for TY_CAMERA_DISTORTION, including all inherited members.

    - +
    data (defined in TY_CAMERA_EXTRINSIC)TY_CAMERA_EXTRINSIC
    dataTY_CAMERA_DISTORTION
    diff --git a/Doc/html/a00069.html b/Doc/html/a00069.html index 8852faa..1100a1b 100644 --- a/Doc/html/a00069.html +++ b/Doc/html/a00069.html @@ -5,7 +5,7 @@ -TYCamport3: TY_CAMERA_EXTRINSIC Struct Reference +TYCamport3: TY_CAMERA_DISTORTION Struct Reference @@ -90,33 +90,26 @@ Public Attributes | List of all members
    -
    TY_CAMERA_EXTRINSIC Struct Reference
    +
    TY_CAMERA_DISTORTION Struct Reference
    +

    camera distortion parameters + More...

    +

    #include <TYApi.h>

    - - + + +

    Public Attributes

    -float data [4 *4]
     
    +float data [12]
     Definition is compatible with opencv3.0+ :k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4.
     

    Detailed Description

    -

    a 4x4 matrix

    - - - - - - - - - - -
    . . . .
    r11 r12 r13 t1
    r21 r22 r23 t2
    r31 r32 r33 t3
    0 0 0 1
    +

    camera distortion parameters

    -

    Definition at line 617 of file TYApi.h.

    +

    Definition at line 629 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -125,7 +118,7 @@
    -

    This is the complete list of members for TY_CAMERA_DISTORTION, including all inherited members.

    +

    This is the complete list of members for TY_CAMERA_CALIB_INFO, including all inherited members.

    - + + + + +
    dataTY_CAMERA_DISTORTION
    distortion (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    extrinsic (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    intrinsic (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    intrinsicHeight (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    intrinsicWidth (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    diff --git a/Doc/html/a00075.map b/Doc/html/a00071.map similarity index 51% rename from Doc/html/a00075.map rename to Doc/html/a00071.map index 34d5fed..36908ed 100644 --- a/Doc/html/a00075.map +++ b/Doc/html/a00071.map @@ -1,5 +1,5 @@ - - - + + + diff --git a/Doc/html/a00071.md5 b/Doc/html/a00071.md5 new file mode 100644 index 0000000..de60800 --- /dev/null +++ b/Doc/html/a00071.md5 @@ -0,0 +1 @@ +42225c200714e6b0ae5aead74aad0d15 \ No newline at end of file diff --git a/Doc/html/a00075.png b/Doc/html/a00071.png similarity index 100% rename from Doc/html/a00075.png rename to Doc/html/a00071.png diff --git a/Doc/html/a00073.html b/Doc/html/a00073.html index 3a8c709..c7b9846 100644 --- a/Doc/html/a00073.html +++ b/Doc/html/a00073.html @@ -5,7 +5,7 @@ -TYCamport3: TY_CAMERA_DISTORTION Struct Reference +TYCamport3: TY_CAMERA_CALIB_INFO Struct Reference @@ -90,26 +90,44 @@ Public Attributes | List of all members
    -
    TY_CAMERA_DISTORTION Struct Reference
    +
    TY_CAMERA_CALIB_INFO Struct Reference
    -

    camera distortion parameters - More...

    -

    #include <TYApi.h>

    +
    +Collaboration diagram for TY_CAMERA_CALIB_INFO:
    +
    +
    Collaboration graph
    + + + + + +
    [legend]
    - - - + + + + + + + + + +

    Public Attributes

    -float data [12]
     Definition is compatible with opencv3.0+ :k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4.
     
    +int32_t intrinsicWidth
     
    +int32_t intrinsicHeight
     
    +TY_CAMERA_INTRINSIC intrinsic
     
    +TY_CAMERA_EXTRINSIC extrinsic
     
    +TY_CAMERA_DISTORTION distortion
     

    Detailed Description

    -

    camera distortion parameters

    +

    camera 's cailbration data

    See also
    TYGetStruct
    -

    Definition at line 623 of file TYApi.h.

    +

    Definition at line 637 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -118,7 +136,7 @@
    -

    This is the complete list of members for TY_CAMERA_CALIB_INFO, including all inherited members.

    +

    This is the complete list of members for TY_TRIGGER_PARAM, including all inherited members.

    - - - - - + + +
    distortion (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    extrinsic (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    intrinsic (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    intrinsicHeight (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    intrinsicWidth (defined in TY_CAMERA_CALIB_INFO)TY_CAMERA_CALIB_INFO
    fps (defined in TY_TRIGGER_PARAM)TY_TRIGGER_PARAM
    mode (defined in TY_TRIGGER_PARAM)TY_TRIGGER_PARAM
    rsvd (defined in TY_TRIGGER_PARAM)TY_TRIGGER_PARAM
    diff --git a/Doc/html/a00075.md5 b/Doc/html/a00075.md5 deleted file mode 100644 index 754a4a0..0000000 --- a/Doc/html/a00075.md5 +++ /dev/null @@ -1 +0,0 @@ -48bdb22e3c3327bd4e0b3658a87fa51d \ No newline at end of file diff --git a/Doc/html/a00077.html b/Doc/html/a00077.html index 00ec852..24eba9e 100644 --- a/Doc/html/a00077.html +++ b/Doc/html/a00077.html @@ -5,7 +5,7 @@ -TYCamport3: TY_CAMERA_CALIB_INFO Struct Reference +TYCamport3: TY_TRIGGER_PARAM Struct Reference @@ -90,44 +90,25 @@ Public Attributes | List of all members
    -
    TY_CAMERA_CALIB_INFO Struct Reference
    +
    TY_TRIGGER_PARAM Struct Reference
    - -

    #include <TYApi.h>

    -
    -Collaboration diagram for TY_CAMERA_CALIB_INFO:
    -
    -
    Collaboration graph
    - - - - - -
    [legend]
    - - - - - - - - - - + + + + + +

    Public Attributes

    -int32_t intrinsicWidth
     
    -int32_t intrinsicHeight
     
    -TY_CAMERA_INTRINSIC intrinsic
     
    -TY_CAMERA_EXTRINSIC extrinsic
     
    -TY_CAMERA_DISTORTION distortion
     
    +TY_TRIGGER_MODE mode
     
    +int8_t fps
     
    +int8_t rsvd
     

    Detailed Description

    -

    camera 's cailbration data

    See also
    TYGetStruct
    - -

    Definition at line 631 of file TYApi.h.

    +
    +

    Definition at line 648 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -136,7 +117,7 @@
    -

    This is the complete list of members for TY_TRIGGER_PARAM, including all inherited members.

    +

    This is the complete list of members for TY_TRIGGER_PARAM_EX, including all inherited members.

    - - - + + + + + + + +
    fps (defined in TY_TRIGGER_PARAM)TY_TRIGGER_PARAM
    mode (defined in TY_TRIGGER_PARAM)TY_TRIGGER_PARAM
    rsvd (defined in TY_TRIGGER_PARAM)TY_TRIGGER_PARAM
    duty (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    fps (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    laser_stream (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    led_expo (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    led_gain (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    led_stream (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    mode (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    rsvd (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    diff --git a/Doc/html/a00081.html b/Doc/html/a00081.html index 383d4c7..f3aff4f 100644 --- a/Doc/html/a00081.html +++ b/Doc/html/a00081.html @@ -5,7 +5,7 @@ -TYCamport3: TY_TRIGGER_PARAM Struct Reference +TYCamport3: TY_TRIGGER_PARAM_EX Struct Reference @@ -90,25 +90,40 @@ Public Attributes | List of all members
    -
    TY_TRIGGER_PARAM Struct Reference
    +
    TY_TRIGGER_PARAM_EX Struct Reference
    - - - + - - - + + + + + + + + + + + + +

    Public Attributes

    +
    TY_TRIGGER_MODE mode
     
    +
     
    int8_t fps
     
    -int8_t rsvd
     
     
    +int8_t duty
     
    +int32_t laser_stream
     
    +int32_t led_stream
     
    +int32_t led_expo
     
    +int32_t led_gain
     
    +int32_t rsvd [20]
     

    Detailed Description

    -

    Definition at line 642 of file TYApi.h.

    +

    Definition at line 656 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -117,7 +132,7 @@
    -

    This is the complete list of members for TY_TRIGGER_PARAM_EX, including all inherited members.

    +

    This is the complete list of members for TY_TRIGGER_TIMER_LIST, including all inherited members.

    - - - - - - - - - + + +
    duty (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    fps (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    ir_gain (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    laser_stream (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    led_expo (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    led_gain (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    led_stream (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    mode (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    rsvd (defined in TY_TRIGGER_PARAM_EX)TY_TRIGGER_PARAM_EX
    offset_us_count (defined in TY_TRIGGER_TIMER_LIST)TY_TRIGGER_TIMER_LIST
    offset_us_list (defined in TY_TRIGGER_TIMER_LIST)TY_TRIGGER_TIMER_LIST
    start_time_us (defined in TY_TRIGGER_TIMER_LIST)TY_TRIGGER_TIMER_LIST
    diff --git a/Doc/html/a00085.html b/Doc/html/a00085.html index 7aaa7d1..aa57703 100644 --- a/Doc/html/a00085.html +++ b/Doc/html/a00085.html @@ -5,7 +5,7 @@ -TYCamport3: TY_TRIGGER_PARAM_EX Struct Reference +TYCamport3: TY_TRIGGER_TIMER_LIST Struct Reference @@ -90,55 +90,25 @@ Public Attributes | List of all members
    -
    TY_TRIGGER_PARAM_EX Struct Reference
    +
    TY_TRIGGER_TIMER_LIST Struct Reference
    - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + +

    Public Attributes

    -TY_TRIGGER_MODE mode
     
    -union {
    -   struct {
    -      int8_t   fps
     
    -      int8_t   duty
     
    -      int32_t   laser_stream
     
    -      int32_t   led_stream
     
    -      int32_t   led_expo
     
    -      int32_t   led_gain
     
       } 
     
    -   struct {
    -      int32_t   ir_gain [2]
     
       } 
     
    -   int32_t   rsvd [32]
     
    }; 
     
    +uint64_t start_time_us
     
    +uint32_t offset_us_count
     
    +uint32_t offset_us_list [50]
     

    Detailed Description

    -

    Definition at line 650 of file TYApi.h.

    +

    Definition at line 669 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -147,7 +117,7 @@
    @@ -87,14 +87,15 @@
    -
    DepthSpeckleFilterParameters Member List
    +
    TY_TRIGGER_TIMER_PERIOD Member List
    -

    This is the complete list of members for DepthSpeckleFilterParameters, including all inherited members.

    +

    This is the complete list of members for TY_TRIGGER_TIMER_PERIOD, including all inherited members.

    - - + + +
    max_speckle_diff (defined in DepthSpeckleFilterParameters)DepthSpeckleFilterParameters
    max_speckle_size (defined in DepthSpeckleFilterParameters)DepthSpeckleFilterParameters
    period_us (defined in TY_TRIGGER_TIMER_PERIOD)TY_TRIGGER_TIMER_PERIOD
    start_time_us (defined in TY_TRIGGER_TIMER_PERIOD)TY_TRIGGER_TIMER_PERIOD
    trigger_count (defined in TY_TRIGGER_TIMER_PERIOD)TY_TRIGGER_TIMER_PERIOD
    diff --git a/Doc/html/a00169.html b/Doc/html/a00089.html similarity index 74% rename from Doc/html/a00169.html rename to Doc/html/a00089.html index bd98a06..af083b0 100644 --- a/Doc/html/a00169.html +++ b/Doc/html/a00089.html @@ -5,7 +5,7 @@ -TYCamport3: DepthSpeckleFilterParameters Struct Reference +TYCamport3: TY_TRIGGER_TIMER_PERIOD Struct Reference @@ -67,7 +67,7 @@
    @@ -88,39 +88,36 @@
    Public Attributes | -List of all members
    +List of all members
    -
    DepthSpeckleFilterParameters Struct Reference
    +
    TY_TRIGGER_TIMER_PERIOD Struct Reference
    - -

    default parameter value definition - More...

    - -

    #include <TYImageProc.h>

    - - - - + + + + + +

    Public Attributes

    -int max_speckle_size
     
    -int max_speckle_diff
     
    +uint64_t start_time_us
     
    +uint32_t trigger_count
     
    +uint32_t period_us
     

    Detailed Description

    -

    default parameter value definition

    - -

    Definition at line 30 of file TYImageProc.h.

    +
    +

    Definition at line 677 of file TYApi.h.

    The documentation for this struct was generated from the following file:
    @@ -87,16 +87,16 @@
    -
    DepthEnhenceParameters Member List
    +
    TY_AEC_ROI_PARAM Member List
    -

    This is the complete list of members for DepthEnhenceParameters, including all inherited members.

    +

    This is the complete list of members for TY_AEC_ROI_PARAM, including all inherited members.

    - - - - + + + +
    outlier_rate (defined in DepthEnhenceParameters)DepthEnhenceParameters
    outlier_win_szDepthEnhenceParameters
    sigma_rDepthEnhenceParameters
    sigma_sDepthEnhenceParameters
    h (defined in TY_AEC_ROI_PARAM)TY_AEC_ROI_PARAM
    w (defined in TY_AEC_ROI_PARAM)TY_AEC_ROI_PARAM
    x (defined in TY_AEC_ROI_PARAM)TY_AEC_ROI_PARAM
    y (defined in TY_AEC_ROI_PARAM)TY_AEC_ROI_PARAM
    diff --git a/Doc/html/a00165.html b/Doc/html/a00093.html similarity index 65% rename from Doc/html/a00165.html rename to Doc/html/a00093.html index 1799b8a..f1f2f29 100644 --- a/Doc/html/a00165.html +++ b/Doc/html/a00093.html @@ -5,7 +5,7 @@ -TYCamport3: TY_PIXEL_COLOR_DESC Struct Reference +TYCamport3: TY_AEC_ROI_PARAM Struct Reference @@ -67,7 +67,7 @@
    @@ -88,45 +88,39 @@
    Public Attributes | -List of all members
    +List of all members
    -
    TY_PIXEL_COLOR_DESC Struct Reference
    +
    TY_AEC_ROI_PARAM Struct Reference
    - - - - - - - - - - - - + + + + + + + +

    Public Attributes

    -int16_t x
     
    -int16_t y
     
    -uint8_t bgr_ch1
     
    -uint8_t bgr_ch2
     
    -uint8_t bgr_ch3
     
    -uint8_t rsvd
     
    +uint32_t x
     
    +uint32_t y
     
    +uint32_t w
     
    +uint32_t h
     

    Detailed Description

    -

    Definition at line 20 of file TYCoordinateMapper.h.

    +

    Definition at line 684 of file TYApi.h.

    The documentation for this struct was generated from the following file:
    @@ -87,17 +87,17 @@
    -
    TY_ISP_FEATURE_INFO Member List
    +
    TY_CAMERA_STATISTICS Member List
    -

    This is the complete list of members for TY_ISP_FEATURE_INFO, including all inherited members.

    +

    This is the complete list of members for TY_CAMERA_STATISTICS, including all inherited members.

    - - - - - + + + + +
    id (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    mode (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    name (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    size (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    value_type (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    imageDropped (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    imageOutputed (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    packetLost (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    packetReceived (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    rsvd (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    diff --git a/Doc/html/a00177.html b/Doc/html/a00097.html similarity index 68% rename from Doc/html/a00177.html rename to Doc/html/a00097.html index 5b2ffcd..80604f5 100644 --- a/Doc/html/a00177.html +++ b/Doc/html/a00097.html @@ -5,7 +5,7 @@ -TYCamport3: TY_ISP_FEATURE_INFO Struct Reference +TYCamport3: TY_CAMERA_STATISTICS Struct Reference @@ -67,7 +67,7 @@
    @@ -88,42 +88,42 @@
    Public Attributes | -List of all members
    +List of all members
    -
    TY_ISP_FEATURE_INFO Struct Reference
    +
    TY_CAMERA_STATISTICS Struct Reference
    - - - - - - - - - - + + + + + + + + + +

    Public Attributes

    -TY_ISP_FEATURE_ID id
     
    -int32_t size
     
    -const char * name
     
    -const char * value_type
     
    -TY_ACCESS_MODE mode
     
    +uint64_t packetReceived
     
    +uint64_t packetLost
     
    +uint64_t imageOutputed
     
    +uint64_t imageDropped
     
    +uint8_t rsvd [1024]
     

    Detailed Description

    -

    Definition at line 63 of file TyIsp.h.

    +

    Definition at line 692 of file TYApi.h.

    The documentation for this struct was generated from the following file:
    -

    This is the complete list of members for TY_TRIGGER_TIMER_LIST, including all inherited members.

    +

    This is the complete list of members for TY_IMU_DATA, including all inherited members.

    - - - + + + + + + + + +
    offset_us_count (defined in TY_TRIGGER_TIMER_LIST)TY_TRIGGER_TIMER_LIST
    offset_us_list (defined in TY_TRIGGER_TIMER_LIST)TY_TRIGGER_TIMER_LIST
    start_time_us (defined in TY_TRIGGER_TIMER_LIST)TY_TRIGGER_TIMER_LIST
    acc_x (defined in TY_IMU_DATA)TY_IMU_DATA
    acc_y (defined in TY_IMU_DATA)TY_IMU_DATA
    acc_z (defined in TY_IMU_DATA)TY_IMU_DATA
    gyro_x (defined in TY_IMU_DATA)TY_IMU_DATA
    gyro_y (defined in TY_IMU_DATA)TY_IMU_DATA
    gyro_z (defined in TY_IMU_DATA)TY_IMU_DATA
    reserved (defined in TY_IMU_DATA)TY_IMU_DATA
    temperature (defined in TY_IMU_DATA)TY_IMU_DATA
    timestamp (defined in TY_IMU_DATA)TY_IMU_DATA
    diff --git a/Doc/html/a00101.html b/Doc/html/a00101.html index 8a977c0..85be09c 100644 --- a/Doc/html/a00101.html +++ b/Doc/html/a00101.html @@ -5,7 +5,7 @@ -TYCamport3: TY_TRIGGER_TIMER_LIST Struct Reference +TYCamport3: TY_IMU_DATA Struct Reference @@ -90,25 +90,43 @@ Public Attributes | List of all members
    -
    TY_TRIGGER_TIMER_LIST Struct Reference
    +
    TY_IMU_DATA Struct Reference
    - - - - - - + + + + + + + + + + + + + + + + + +

    Public Attributes

    -uint64_t start_time_us
     
    -uint32_t offset_us_count
     
    -uint32_t offset_us_list [50]
     
    +uint64_t timestamp
     
    +float acc_x
     
    +float acc_y
     
    +float acc_z
     
    +float gyro_x
     
    +float gyro_y
     
    +float gyro_z
     
    +float temperature
     
    +float reserved [1]
     

    Detailed Description

    -

    Definition at line 673 of file TYApi.h.

    +

    Definition at line 701 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -117,7 +135,7 @@
    -

    This is the complete list of members for TY_TRIGGER_TIMER_PERIOD, including all inherited members.

    +

    This is the complete list of members for TY_ACC_BIAS, including all inherited members.

    - - - +
    period_us (defined in TY_TRIGGER_TIMER_PERIOD)TY_TRIGGER_TIMER_PERIOD
    start_time_us (defined in TY_TRIGGER_TIMER_PERIOD)TY_TRIGGER_TIMER_PERIOD
    trigger_count (defined in TY_TRIGGER_TIMER_PERIOD)TY_TRIGGER_TIMER_PERIOD
    data (defined in TY_ACC_BIAS)TY_ACC_BIAS
    diff --git a/Doc/html/a00105.html b/Doc/html/a00105.html index 3c72be2..eb5244c 100644 --- a/Doc/html/a00105.html +++ b/Doc/html/a00105.html @@ -5,7 +5,7 @@ -TYCamport3: TY_TRIGGER_TIMER_PERIOD Struct Reference +TYCamport3: TY_ACC_BIAS Struct Reference @@ -90,25 +90,28 @@ Public Attributes | List of all members
    -
    TY_TRIGGER_TIMER_PERIOD Struct Reference
    +
    TY_ACC_BIAS Struct Reference
    + +

    #include <TYApi.h>

    - - - - - - + +

    Public Attributes

    -uint64_t start_time_us
     
    -uint32_t trigger_count
     
    -uint32_t period_us
     
    +float data [3]
     

    Detailed Description

    -
    -

    Definition at line 681 of file TYApi.h.

    +

    a 3x3 matrix
    +

    + + + + +
    . . .
    BIASx BIASy BIASz
    + +

    Definition at line 718 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -117,7 +120,7 @@
    -

    This is the complete list of members for TY_AEC_ROI_PARAM, including all inherited members.

    +

    This is the complete list of members for TY_ACC_MISALIGNMENT, including all inherited members.

    - - - - +
    h (defined in TY_AEC_ROI_PARAM)TY_AEC_ROI_PARAM
    w (defined in TY_AEC_ROI_PARAM)TY_AEC_ROI_PARAM
    x (defined in TY_AEC_ROI_PARAM)TY_AEC_ROI_PARAM
    y (defined in TY_AEC_ROI_PARAM)TY_AEC_ROI_PARAM
    data (defined in TY_ACC_MISALIGNMENT)TY_ACC_MISALIGNMENT
    diff --git a/Doc/html/a00109.html b/Doc/html/a00109.html index f5e5381..8080474 100644 --- a/Doc/html/a00109.html +++ b/Doc/html/a00109.html @@ -5,7 +5,7 @@ -TYCamport3: TY_AEC_ROI_PARAM Struct Reference +TYCamport3: TY_ACC_MISALIGNMENT Struct Reference @@ -90,28 +90,32 @@ Public Attributes | List of all members
    -
    TY_AEC_ROI_PARAM Struct Reference
    +
    TY_ACC_MISALIGNMENT Struct Reference
    + +

    #include <TYApi.h>

    - - - - - - - - + +

    Public Attributes

    -uint32_t x
     
    -uint32_t y
     
    -uint32_t w
     
    -uint32_t h
     
    +float data [3 *3]
     

    Detailed Description

    -
    -

    Definition at line 688 of file TYApi.h.

    +

    a 3x3 matrix
    +|.|.|.|

    + + + + + + + + +
    . . .
    1 -GAMAyz GAMAzy
    GAMAxz 1 -GAMAzx
    -GAMAxy GAMAyx 1
    + +

    Definition at line 730 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -120,7 +124,7 @@
    -

    This is the complete list of members for TY_CAMERA_STATISTICS, including all inherited members.

    +

    This is the complete list of members for TY_ACC_SCALE, including all inherited members.

    - - - - - +
    imageDropped (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    imageOutputed (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    packetLost (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    packetReceived (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    rsvd (defined in TY_CAMERA_STATISTICS)TY_CAMERA_STATISTICS
    data (defined in TY_ACC_SCALE)TY_ACC_SCALE
    diff --git a/Doc/html/a00113.html b/Doc/html/a00113.html index e420cc8..e670abb 100644 --- a/Doc/html/a00113.html +++ b/Doc/html/a00113.html @@ -5,7 +5,7 @@ -TYCamport3: TY_CAMERA_STATISTICS Struct Reference +TYCamport3: TY_ACC_SCALE Struct Reference @@ -90,31 +90,32 @@ Public Attributes | List of all members
    -
    TY_CAMERA_STATISTICS Struct Reference
    +
    TY_ACC_SCALE Struct Reference
    + +

    #include <TYApi.h>

    - - - - - - - - - - + +

    Public Attributes

    -uint64_t packetReceived
     
    -uint64_t packetLost
     
    -uint64_t imageOutputed
     
    -uint64_t imageDropped
     
    -uint8_t rsvd [1024]
     
    +float data [3 *3]
     

    Detailed Description

    -
    -

    Definition at line 696 of file TYApi.h.

    +

    a 3x3 matrix
    +

    + + + + + + + + +
    . . .
    SCALEx 0 0
    0 SCALEy 0
    0 0 SCALEz
    + +

    Definition at line 741 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -123,7 +124,7 @@
    -

    This is the complete list of members for TY_IMU_DATA, including all inherited members.

    +

    This is the complete list of members for TY_GYRO_BIAS, including all inherited members.

    - - - - - - - - - +
    acc_x (defined in TY_IMU_DATA)TY_IMU_DATA
    acc_y (defined in TY_IMU_DATA)TY_IMU_DATA
    acc_z (defined in TY_IMU_DATA)TY_IMU_DATA
    gyro_x (defined in TY_IMU_DATA)TY_IMU_DATA
    gyro_y (defined in TY_IMU_DATA)TY_IMU_DATA
    gyro_z (defined in TY_IMU_DATA)TY_IMU_DATA
    reserved (defined in TY_IMU_DATA)TY_IMU_DATA
    temperature (defined in TY_IMU_DATA)TY_IMU_DATA
    timestamp (defined in TY_IMU_DATA)TY_IMU_DATA
    data (defined in TY_GYRO_BIAS)TY_GYRO_BIAS
    diff --git a/Doc/html/a00117.html b/Doc/html/a00117.html index 7f56b78..07b09a3 100644 --- a/Doc/html/a00117.html +++ b/Doc/html/a00117.html @@ -5,7 +5,7 @@ -TYCamport3: TY_IMU_DATA Struct Reference +TYCamport3: TY_GYRO_BIAS Struct Reference @@ -90,43 +90,28 @@ Public Attributes | List of all members
    -
    TY_IMU_DATA Struct Reference
    +
    TY_GYRO_BIAS Struct Reference
    + +

    #include <TYApi.h>

    - - - - - - - - - - - - - - - - - - + +

    Public Attributes

    -uint64_t timestamp
     
    -float acc_x
     
    -float acc_y
     
    -float acc_z
     
    -float gyro_x
     
    -float gyro_y
     
    -float gyro_z
     
    -float temperature
     
    -float reserved [1]
     
    +float data [3]
     

    Detailed Description

    -
    -

    Definition at line 705 of file TYApi.h.

    +

    a 3x3 matrix
    +

    + + + + +
    . . .
    BIASx BIASy BIASz
    + +

    Definition at line 750 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -135,7 +120,7 @@
    -

    This is the complete list of members for TY_ACC_BIAS, including all inherited members.

    +

    This is the complete list of members for TY_GYRO_MISALIGNMENT, including all inherited members.

    - +
    data (defined in TY_ACC_BIAS)TY_ACC_BIAS
    data (defined in TY_GYRO_MISALIGNMENT)TY_GYRO_MISALIGNMENT
    diff --git a/Doc/html/a00121.html b/Doc/html/a00121.html index 4213179..ef6af26 100644 --- a/Doc/html/a00121.html +++ b/Doc/html/a00121.html @@ -5,7 +5,7 @@ -TYCamport3: TY_ACC_BIAS Struct Reference +TYCamport3: TY_GYRO_MISALIGNMENT Struct Reference @@ -90,7 +90,7 @@ Public Attributes | List of all members
    -
    TY_ACC_BIAS Struct Reference
    +
    TY_GYRO_MISALIGNMENT Struct Reference
    @@ -98,9 +98,9 @@ - - + +

    Public Attributes

    -float data [3]
     
    +float data [3 *3]
     

    Detailed Description

    a 3x3 matrix
    @@ -108,10 +108,14 @@ . . . -BIASx BIASy BIASz +1 -ALPHAyz ALPHAzy + +0 1 -ALPHAzx + +0 0 1 -

    Definition at line 722 of file TYApi.h.

    +

    Definition at line 761 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -120,7 +124,7 @@
    -

    This is the complete list of members for TY_ACC_MISALIGNMENT, including all inherited members.

    +

    This is the complete list of members for TY_GYRO_SCALE, including all inherited members.

    - +
    data (defined in TY_ACC_MISALIGNMENT)TY_ACC_MISALIGNMENT
    data (defined in TY_GYRO_SCALE)TY_GYRO_SCALE
    diff --git a/Doc/html/a00125.html b/Doc/html/a00125.html index a6a16ac..a10b43f 100644 --- a/Doc/html/a00125.html +++ b/Doc/html/a00125.html @@ -5,7 +5,7 @@ -TYCamport3: TY_ACC_MISALIGNMENT Struct Reference +TYCamport3: TY_GYRO_SCALE Struct Reference @@ -90,7 +90,7 @@ Public Attributes | List of all members
    -
    TY_ACC_MISALIGNMENT Struct Reference
    +
    TY_GYRO_SCALE Struct Reference
    @@ -98,24 +98,24 @@ - - +

    Public Attributes

    +
    float data [3 *3]
     
     

    Detailed Description

    a 3x3 matrix
    -|.|.|.|

    +

    - + - + - +
    . . .
    1 -GAMAyz GAMAzy
    SCALEx 0 0
    GAMAxz 1 -GAMAzx
    0 SCALEy 0
    -GAMAxy GAMAyx 1
    0 0 SCALEz
    -

    Definition at line 734 of file TYApi.h.

    +

    Definition at line 772 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -124,7 +124,7 @@
    -

    This is the complete list of members for TY_ACC_SCALE, including all inherited members.

    +

    This is the complete list of members for TY_CAMERA_TO_IMU, including all inherited members.

    - +
    data (defined in TY_ACC_SCALE)TY_ACC_SCALE
    data (defined in TY_CAMERA_TO_IMU)TY_CAMERA_TO_IMU
    diff --git a/Doc/html/a00129.html b/Doc/html/a00129.html index 8f8bf9d..f7ac820 100644 --- a/Doc/html/a00129.html +++ b/Doc/html/a00129.html @@ -5,7 +5,7 @@ -TYCamport3: TY_ACC_SCALE Struct Reference +TYCamport3: TY_CAMERA_TO_IMU Struct Reference @@ -90,7 +90,7 @@ Public Attributes | List of all members
    -
    TY_ACC_SCALE Struct Reference
    +
    TY_CAMERA_TO_IMU Struct Reference
    @@ -98,24 +98,25 @@ - - + +

    Public Attributes

    -float data [3 *3]
     
    +float data [4 *4]
     

    Detailed Description

    -

    a 3x3 matrix
    -

    +

    a 4x4 matrix

    - + - + - + - + + +
    . . .
    . . . .
    SCALEx 0 0
    r11 r12 r13 t1
    0 SCALEy 0
    r21 r22 r23 t2
    0 0 SCALEz
    r31 r32 r33 t3
    0 0 0 1
    -

    Definition at line 745 of file TYApi.h.

    +

    Definition at line 784 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -124,7 +125,7 @@
    -

    This is the complete list of members for TY_GYRO_BIAS, including all inherited members.

    +

    This is the complete list of members for TY_IMAGE_DATA, including all inherited members.

    - + + + + + + + + + +
    data (defined in TY_GYRO_BIAS)TY_GYRO_BIAS
    bufferTY_IMAGE_DATA
    componentIDTY_IMAGE_DATA
    heightTY_IMAGE_DATA
    imageIndexTY_IMAGE_DATA
    pixelFormatTY_IMAGE_DATA
    reservedTY_IMAGE_DATA
    sizeTY_IMAGE_DATA
    statusTY_IMAGE_DATA
    timestampTY_IMAGE_DATA
    widthTY_IMAGE_DATA
    diff --git a/Doc/html/a00133.html b/Doc/html/a00133.html index e019d04..4da91f5 100644 --- a/Doc/html/a00133.html +++ b/Doc/html/a00133.html @@ -5,7 +5,7 @@ -TYCamport3: TY_GYRO_BIAS Struct Reference +TYCamport3: TY_IMAGE_DATA Struct Reference @@ -90,28 +90,56 @@ Public Attributes | List of all members
    -
    TY_GYRO_BIAS Struct Reference
    +
    TY_IMAGE_DATA Struct Reference
    - -

    #include <TYApi.h>

    - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    Public Attributes

    -float data [3]
     
    +uint64_t timestamp
     Timestamp in microseconds.
     
    +int32_t imageIndex
     image index used in trigger mode
     
    +int32_t status
     Status of this buffer.
     
    +int32_t componentID
     Where current data come from.
     
    +int32_t size
     Buffer size.
     
    +void * buffer
     Pointer to data buffer.
     
    +int32_t width
     Image width in pixels.
     
    +int32_t height
     Image height in pixels.
     
    +int32_t pixelFormat
     Pixel format, see TY_PIXEL_FORMAT_LIST.
     
    +int32_t reserved [9]
     Reserved.
     

    Detailed Description

    -

    a 3x3 matrix
    -

    - - - - -
    . . .
    BIASx BIASy BIASz
    - -

    Definition at line 754 of file TYApi.h.

    +
    +

    Definition at line 799 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -120,7 +148,7 @@
    -

    This is the complete list of members for TY_GYRO_MISALIGNMENT, including all inherited members.

    +

    This is the complete list of members for TY_FRAME_DATA, including all inherited members.

    - + + + + +
    data (defined in TY_GYRO_MISALIGNMENT)TY_GYRO_MISALIGNMENT
    bufferSizeTY_FRAME_DATA
    imageTY_FRAME_DATA
    reservedTY_FRAME_DATA
    userBufferTY_FRAME_DATA
    validCountTY_FRAME_DATA
    diff --git a/Doc/html/a00151.map b/Doc/html/a00135.map similarity index 57% rename from Doc/html/a00151.map rename to Doc/html/a00135.map index 403a8f2..5b7340f 100644 --- a/Doc/html/a00151.map +++ b/Doc/html/a00135.map @@ -1,3 +1,3 @@ - + diff --git a/Doc/html/a00135.md5 b/Doc/html/a00135.md5 new file mode 100644 index 0000000..86c99dc --- /dev/null +++ b/Doc/html/a00135.md5 @@ -0,0 +1 @@ +4e6cdcbe5bda5c6bb347353eadbe0b55 \ No newline at end of file diff --git a/Doc/html/a00151.png b/Doc/html/a00135.png similarity index 100% rename from Doc/html/a00151.png rename to Doc/html/a00135.png diff --git a/Doc/html/a00137.html b/Doc/html/a00137.html index b17a880..f1191ab 100644 --- a/Doc/html/a00137.html +++ b/Doc/html/a00137.html @@ -5,7 +5,7 @@ -TYCamport3: TY_GYRO_MISALIGNMENT Struct Reference +TYCamport3: TY_FRAME_DATA Struct Reference @@ -90,32 +90,44 @@ Public Attributes | List of all members
    -
    TY_GYRO_MISALIGNMENT Struct Reference
    +
    TY_FRAME_DATA Struct Reference
    - -

    #include <TYApi.h>

    +
    +Collaboration diagram for TY_FRAME_DATA:
    +
    +
    Collaboration graph
    + + + +
    [legend]
    - - + + + + + + + + + + + + + + +

    Public Attributes

    -float data [3 *3]
     
    +void * userBuffer
     Pointer to user enqueued buffer, user should enqueue this buffer in the end of callback.
     
    +int32_t bufferSize
     Size of userBuffer.
     
    +int32_t validCount
     Number of valid data.
     
    +int32_t reserved [6]
     Reserved: reserved[0],laser_val;.
     
    +TY_IMAGE_DATA image [10]
     Buffer data, max to 10 images per frame, each buffer data could be an image or something else.
     

    Detailed Description

    -

    a 3x3 matrix
    -

    - - - - - - - - -
    . . .
    1 -ALPHAyz ALPHAzy
    0 1 -ALPHAzx
    0 0 1
    - -

    Definition at line 765 of file TYApi.h.

    +
    +

    Definition at line 814 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -124,7 +136,7 @@
    -

    This is the complete list of members for TY_GYRO_SCALE, including all inherited members.

    +

    This is the complete list of members for TY_EVENT_INFO, including all inherited members.

    - + +
    data (defined in TY_GYRO_SCALE)TY_GYRO_SCALE
    eventId (defined in TY_EVENT_INFO)TY_EVENT_INFO
    message (defined in TY_EVENT_INFO)TY_EVENT_INFO
    diff --git a/Doc/html/a00141.html b/Doc/html/a00141.html index 10521b4..15118d2 100644 --- a/Doc/html/a00141.html +++ b/Doc/html/a00141.html @@ -5,7 +5,7 @@ -TYCamport3: TY_GYRO_SCALE Struct Reference +TYCamport3: TY_EVENT_INFO Struct Reference @@ -90,32 +90,22 @@ Public Attributes | List of all members
    -
    TY_GYRO_SCALE Struct Reference
    +
    TY_EVENT_INFO Struct Reference
    - -

    #include <TYApi.h>

    - - + + + +

    Public Attributes

    -float data [3 *3]
     
    +TY_EVENT eventId
     
    +char message [124]
     

    Detailed Description

    -

    a 3x3 matrix
    -

    - - - - - - - - -
    . . .
    SCALEx 0 0
    0 SCALEy 0
    0 0 SCALEz
    - -

    Definition at line 776 of file TYApi.h.

    +
    +

    Definition at line 824 of file TYApi.h.

    The documentation for this struct was generated from the following file: @@ -124,7 +114,7 @@
    -

    This is the complete list of members for TY_CAMERA_TO_IMU, including all inherited members.

    +

    This is the complete list of members for TY_PIXEL_DESC, including all inherited members.

    - + + + +
    data (defined in TY_CAMERA_TO_IMU)TY_CAMERA_TO_IMU
    depth (defined in TY_PIXEL_DESC)TY_PIXEL_DESC
    rsvd (defined in TY_PIXEL_DESC)TY_PIXEL_DESC
    x (defined in TY_PIXEL_DESC)TY_PIXEL_DESC
    y (defined in TY_PIXEL_DESC)TY_PIXEL_DESC
    diff --git a/Doc/html/a00145.html b/Doc/html/a00145.html index b8e1e53..c07aad4 100644 --- a/Doc/html/a00145.html +++ b/Doc/html/a00145.html @@ -5,7 +5,7 @@ -TYCamport3: TY_CAMERA_TO_IMU Struct Reference +TYCamport3: TY_PIXEL_DESC Struct Reference @@ -90,42 +90,37 @@ Public Attributes | List of all members
    -
    TY_CAMERA_TO_IMU Struct Reference
    +
    TY_PIXEL_DESC Struct Reference
    - -

    #include <TYApi.h>

    - - + + + + + + + +

    Public Attributes

    -float data [4 *4]
     
    +int16_t x
     
    +int16_t y
     
    +uint16_t depth
     
    +uint16_t rsvd
     

    Detailed Description

    -

    a 4x4 matrix

    - - - - - - - - - - -
    . . . .
    r11 r12 r13 t1
    r21 r22 r23 t2
    r31 r32 r33 t3
    0 0 0 1
    - -

    Definition at line 788 of file TYApi.h.

    +
    +

    Definition at line 12 of file TYCoordinateMapper.h.

    The documentation for this struct was generated from the following file:
    -

    This is the complete list of members for TY_IMAGE_DATA, including all inherited members.

    +

    This is the complete list of members for TY_PIXEL_COLOR_DESC, including all inherited members.

    - - - - - - - - - - + + + + + +
    bufferTY_IMAGE_DATA
    componentIDTY_IMAGE_DATA
    heightTY_IMAGE_DATA
    imageIndexTY_IMAGE_DATA
    pixelFormatTY_IMAGE_DATA
    reservedTY_IMAGE_DATA
    sizeTY_IMAGE_DATA
    statusTY_IMAGE_DATA
    timestampTY_IMAGE_DATA
    widthTY_IMAGE_DATA
    bgr_ch1 (defined in TY_PIXEL_COLOR_DESC)TY_PIXEL_COLOR_DESC
    bgr_ch2 (defined in TY_PIXEL_COLOR_DESC)TY_PIXEL_COLOR_DESC
    bgr_ch3 (defined in TY_PIXEL_COLOR_DESC)TY_PIXEL_COLOR_DESC
    rsvd (defined in TY_PIXEL_COLOR_DESC)TY_PIXEL_COLOR_DESC
    x (defined in TY_PIXEL_COLOR_DESC)TY_PIXEL_COLOR_DESC
    y (defined in TY_PIXEL_COLOR_DESC)TY_PIXEL_COLOR_DESC
    diff --git a/Doc/html/a00149.html b/Doc/html/a00149.html index f204ac8..9e8f926 100644 --- a/Doc/html/a00149.html +++ b/Doc/html/a00149.html @@ -5,7 +5,7 @@ -TYCamport3: TY_IMAGE_DATA Struct Reference +TYCamport3: TY_PIXEL_COLOR_DESC Struct Reference @@ -90,65 +90,43 @@ Public Attributes | List of all members
    -
    TY_IMAGE_DATA Struct Reference
    +
    TY_PIXEL_COLOR_DESC Struct Reference
    - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + +

    Public Attributes

    -uint64_t timestamp
     Timestamp in microseconds.
     
    -int32_t imageIndex
     image index used in trigger mode
     
    -int32_t status
     Status of this buffer.
     
    -int32_t componentID
     Where current data come from.
     
    -int32_t size
     Buffer size.
     
    -void * buffer
     Pointer to data buffer.
     
    -int32_t width
     Image width in pixels.
     
    -int32_t height
     Image height in pixels.
     
    -int32_t pixelFormat
     Pixel format, see TY_PIXEL_FORMAT_LIST.
     
    -int32_t reserved [9]
     Reserved.
     
    +int16_t x
     
    +int16_t y
     
    +uint8_t bgr_ch1
     
    +uint8_t bgr_ch2
     
    +uint8_t bgr_ch3
     
    +uint8_t rsvd
     

    Detailed Description

    -

    Definition at line 803 of file TYApi.h.

    +

    Definition at line 20 of file TYCoordinateMapper.h.

    The documentation for this struct was generated from the following file:
    -

    This is the complete list of members for TY_FRAME_DATA, including all inherited members.

    +

    This is the complete list of members for DepthSpeckleFilterParameters, including all inherited members.

    - - - - - + +
    bufferSizeTY_FRAME_DATA
    imageTY_FRAME_DATA
    reservedTY_FRAME_DATA
    userBufferTY_FRAME_DATA
    validCountTY_FRAME_DATA
    max_speckle_diff (defined in DepthSpeckleFilterParameters)DepthSpeckleFilterParameters
    max_speckle_size (defined in DepthSpeckleFilterParameters)DepthSpeckleFilterParameters
    diff --git a/Doc/html/a00151.md5 b/Doc/html/a00151.md5 deleted file mode 100644 index 922e41b..0000000 --- a/Doc/html/a00151.md5 +++ /dev/null @@ -1 +0,0 @@ -ad8e7ae62e3ab5f1c49c98ecb9a87592 \ No newline at end of file diff --git a/Doc/html/a00153.html b/Doc/html/a00153.html index cab3474..f726f3c 100644 --- a/Doc/html/a00153.html +++ b/Doc/html/a00153.html @@ -5,7 +5,7 @@ -TYCamport3: TY_FRAME_DATA Struct Reference +TYCamport3: DepthSpeckleFilterParameters Struct Reference @@ -90,53 +90,37 @@ Public Attributes | List of all members
    -
    TY_FRAME_DATA Struct Reference
    +
    DepthSpeckleFilterParameters Struct Reference
    -
    -Collaboration diagram for TY_FRAME_DATA:
    -
    -
    Collaboration graph
    - - - -
    [legend]
    + +

    default parameter value definition + More...

    + +

    #include <TYImageProc.h>

    - - - - - - - - - - - - - - - + + + +

    Public Attributes

    -void * userBuffer
     Pointer to user enqueued buffer, user should enqueue this buffer in the end of callback.
     
    -int32_t bufferSize
     Size of userBuffer.
     
    -int32_t validCount
     Number of valid data.
     
    -int32_t reserved [6]
     Reserved: reserved[0],laser_val;.
     
    -TY_IMAGE_DATA image [10]
     Buffer data, max to 10 images per frame, each buffer data could be an image or something else.
     
    +int max_speckle_size
     
    +int max_speckle_diff
     

    Detailed Description

    -
    -

    Definition at line 818 of file TYApi.h.

    +

    default parameter value definition

    + +

    Definition at line 30 of file TYImageProc.h.

    The documentation for this struct was generated from the following file:
    -

    This is the complete list of members for TY_EVENT_INFO, including all inherited members.

    +

    This is the complete list of members for DepthEnhenceParameters, including all inherited members.

    - - + + + +
    eventId (defined in TY_EVENT_INFO)TY_EVENT_INFO
    message (defined in TY_EVENT_INFO)TY_EVENT_INFO
    outlier_rate (defined in DepthEnhenceParameters)DepthEnhenceParameters
    outlier_win_szDepthEnhenceParameters
    sigma_rDepthEnhenceParameters
    sigma_sDepthEnhenceParameters
    diff --git a/Doc/html/a00157.html b/Doc/html/a00157.html index 265485b..ef26294 100644 --- a/Doc/html/a00157.html +++ b/Doc/html/a00157.html @@ -5,7 +5,7 @@ -TYCamport3: TY_EVENT_INFO Struct Reference +TYCamport3: DepthEnhenceParameters Struct Reference @@ -90,31 +90,46 @@ Public Attributes | List of all members
    -
    TY_EVENT_INFO Struct Reference
    +
    DepthEnhenceParameters Struct Reference
    + +

    default parameter value definition + More...

    + +

    #include <TYImageProc.h>

    - - - - + + + + + + + + + + +

    Public Attributes

    -TY_EVENT eventId
     
    -char message [124]
     
    +float sigma_s
     filter param on space
     
    +float sigma_r
     filter param on range
     
    +int outlier_win_sz
     outlier filter windows ize
     
    +float outlier_rate
     

    Detailed Description

    -
    -

    Definition at line 828 of file TYApi.h.

    +

    default parameter value definition

    + +

    Definition at line 50 of file TYImageProc.h.

    The documentation for this struct was generated from the following file:
    -

    This is the complete list of members for TY_PIXEL_DESC, including all inherited members.

    +

    This is the complete list of members for TY_ISP_FEATURE_INFO, including all inherited members.

    - - - - + + + + +
    depth (defined in TY_PIXEL_DESC)TY_PIXEL_DESC
    rsvd (defined in TY_PIXEL_DESC)TY_PIXEL_DESC
    x (defined in TY_PIXEL_DESC)TY_PIXEL_DESC
    y (defined in TY_PIXEL_DESC)TY_PIXEL_DESC
    id (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    mode (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    name (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    size (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    value_type (defined in TY_ISP_FEATURE_INFO)TY_ISP_FEATURE_INFO
    diff --git a/Doc/html/a00161.html b/Doc/html/a00161.html index 3216e39..142d6cb 100644 --- a/Doc/html/a00161.html +++ b/Doc/html/a00161.html @@ -5,7 +5,7 @@ -TYCamport3: TY_PIXEL_DESC Struct Reference +TYCamport3: TY_ISP_FEATURE_INFO Struct Reference @@ -90,37 +90,40 @@ Public Attributes | List of all members
    -
    TY_PIXEL_DESC Struct Reference
    +
    TY_ISP_FEATURE_INFO Struct Reference
    - - - - - - - - + + + + + + + + + +

    Public Attributes

    -int16_t x
     
    -int16_t y
     
    -uint16_t depth
     
    -uint16_t rsvd
     
    +TY_ISP_FEATURE_ID id
     
    +int32_t size
     
    +const char * name
     
    +const char * value_type
     
    +TY_ACCESS_MODE mode
     

    Detailed Description

    -

    Definition at line 12 of file TYCoordinateMapper.h.

    +

    Definition at line 63 of file TyIsp.h.

    The documentation for this struct was generated from the following file:
    -

    Copyright(C)2016-2021 Percipio All Rights Reserved

    +

    +compare to V2:

    +
      +
    1. New Interface Layer Add this layer to specify local network interface to open network camera, solving the problem that someone wants to connect to a network camera with ethernet rather than WIFI. Users have to call interface APIs before openning devices.
      2. +
    2. New Image Processing Library The new library which has header file TYImageProc.h collects all image processing functions we provided.
      3. +
    3. New Coordinate Mapper New TYCoordinateMapper.h handles various convertions, including depth <-> point3D, point3D <-> point3D.
      4. +
    4. Components: Removed Point3D component(TY_COMPONENT_POINT3D). Point3D is a virtual component in V2, and the points are calculated from depth image. We put the calculation outside tycam library to increase flexibility.
      5. +
    5. Features: Removed TY_BOOL_TRIGGER_MODE , covered by TY_STRUCT_TRIGGER_PARAM Added TY_STRUCT_CAM_CALIB_DATA , for easy use in image processing library TY_INT_IMAGE_MODE , covered by new added TY_ENUM_IMAGE_MODE Modified TY_ENUM_IMAGE_MODE , means resolution mode in V2, combind resolution and pixel format in V3 Added some network camera's feature, such as TY_INT_PERSISTENT_IP, TY_INT_PERSISTENT_SUBMASK, TY_INT_PACKET_DELAY, etc.
      6. +
    +

    Copyright(C)2016-2019 Percipio All Rights Reserved

    Note

    Depth camera, called "device", consists of several components. Each component is a hardware module or virtual module, such as RGB sensor, depth sensor. Each component has its own features, such as image width, exposure time, etc..

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a/Doc/html/search/variables_f.js +++ b/Doc/html/search/variables_f.js @@ -1,5 +1,4 @@ var searchData= [ - ['valid_5fsize',['valid_size',['../a00053.html#a07ba18afdbaf51bfa57407eee61e25e8',1,'TY_BYTEARRAY_ATTR']]], - ['validcount',['validCount',['../a00153.html#a8e3a508ddd5eec680fc5c114dd297fe3',1,'TY_FRAME_DATA']]] + ['validcount',['validCount',['../a00137.html#a8e3a508ddd5eec680fc5c114dd297fe3',1,'TY_FRAME_DATA']]] ]; diff --git a/Doc/pdf/refman.pdf b/Doc/pdf/refman.pdf index 485b75d..7000261 100644 Binary files a/Doc/pdf/refman.pdf and b/Doc/pdf/refman.pdf differ diff --git a/include/TYApi.h b/include/TYApi.h index 0d74667..8e3ee68 100644 --- a/include/TYApi.h +++ b/include/TYApi.h @@ -6,8 +6,32 @@ */ /**@mainpage +* @section Changes compare to V2: +* 1. New Interface Layer +* Add this layer to specify local network interface to open network camera, +* solving the problem that someone wants to connect to a network camera with +* ethernet rather than WIFI. Users have to call interface APIs before openning +* devices. +* 2. New Image Processing Library +* The new library which has header file TYImageProc.h collects all image +* processing functions we provided. +* 3. New Coordinate Mapper +* New TYCoordinateMapper.h handles various convertions, including +* depth <-> point3D, point3D <-> point3D. +* 4. Components: +* Removed Point3D component(TY_COMPONENT_POINT3D). Point3D is a virtual component +* in V2, and the points are calculated from depth image. We put the calculation +* outside tycam library to increase flexibility. +* 5. Features: +* Removed TY_BOOL_TRIGGER_MODE , covered by TY_STRUCT_TRIGGER_PARAM +* Added TY_STRUCT_CAM_CALIB_DATA , for easy use in image processing library +* TY_INT_IMAGE_MODE , covered by new added TY_ENUM_IMAGE_MODE +* Modified TY_ENUM_IMAGE_MODE , means resolution mode in V2, combind +* resolution and pixel format in V3 +* Added some network camera's feature, such as TY_INT_PERSISTENT_IP, +* TY_INT_PERSISTENT_SUBMASK, TY_INT_PACKET_DELAY, etc. * -* Copyright(C)2016-2021 Percipio All Rights Reserved +* Copyright(C)2016-2019 Percipio All Rights Reserved * * * @@ -115,7 +139,7 @@ #define TY_LIB_VERSION_MAJOR 3 #define TY_LIB_VERSION_MINOR 5 -#define TY_LIB_VERSION_PATCH 18 +#define TY_LIB_VERSION_PATCH 15 //------------------------------------------------------------------------------ @@ -298,8 +322,6 @@ typedef enum TY_FEATURE_ID_LIST TY_INT_B_GAIN = 0x0522 | TY_FEATURE_INT, ///< Gain of B channel TY_INT_ANALOG_GAIN = 0x0524 | TY_FEATURE_INT, ///< Analog gain - TY_BOOL_HDR = 0x0525 | TY_FEATURE_BOOL, - TY_BYTEARRAY_HDR_PARAMETER = 0x0526 | TY_FEATURE_BYTEARRAY, TY_BOOL_IMU_DATA_ONOFF = 0x0600 | TY_FEATURE_BOOL, ///< IMU Data Onoff TY_STRUCT_IMU_ACC_BIAS = 0x0601 | TY_FEATURE_STRUCT, ///< IMU acc bias matrix, see TY_ACC_BIAS @@ -377,9 +399,6 @@ typedef enum TY_PIXEL_FORMAT_LIST{ TY_PIXEL_FORMAT_UNDEFINED = 0, TY_PIXEL_FORMAT_MONO = (TY_PIXEL_8BIT | (0x0 << 24)), ///< 0x10000000 TY_PIXEL_FORMAT_BAYER8GB = (TY_PIXEL_8BIT | (0x1 << 24)), ///< 0x11000000 - TY_PIXEL_FORMAT_BAYER8BG = (TY_PIXEL_8BIT | (0x2 << 24)), ///< 0x12000000 - TY_PIXEL_FORMAT_BAYER8GR = (TY_PIXEL_8BIT | (0x3 << 24)), ///< 0x13000000 - TY_PIXEL_FORMAT_BAYER8RG = (TY_PIXEL_8BIT | (0x4 << 24)), ///< 0x14000000 TY_PIXEL_FORMAT_DEPTH16 = (TY_PIXEL_16BIT | (0x0 << 24)), ///< 0x20000000 TY_PIXEL_FORMAT_YVYU = (TY_PIXEL_16BIT | (0x1 << 24)), ///< 0x21000000, yvyu422 TY_PIXEL_FORMAT_YUYV = (TY_PIXEL_16BIT | (0x2 << 24)), ///< 0x22000000, yuyv422 @@ -446,10 +465,7 @@ typedef enum TY_IMAGE_MODE_LIST TY_DECLARE_IMAGE_MODE1(YUYV), TY_DECLARE_IMAGE_MODE1(RGB), TY_DECLARE_IMAGE_MODE1(JPEG), - TY_DECLARE_IMAGE_MODE1(BAYER8GB), - TY_DECLARE_IMAGE_MODE1(BAYER8BG), - TY_DECLARE_IMAGE_MODE1(BAYER8GR), - TY_DECLARE_IMAGE_MODE1(BAYER8RG) + TY_DECLARE_IMAGE_MODE1(BAYER8GB) }TY_IMAGE_MODE_LIST; typedef int32_t TY_IMAGE_MODE; #undef TY_DECLARE_IMAGE_MODE0 @@ -467,7 +483,6 @@ typedef enum TY_TRIGGER_MODE_LIST TY_TRIGGER_MODE_TIMER_LIST = 20, TY_TRIGGER_MODE_TIMER_PERIOD= 21, TY_TRIGGER_MODE_PER_PASS2 = 30,///> 12) & mask; - image_size[0] = width; - image_size[1] = height; - -} - ///init color isp setting ///for bayer raw image process static TY_STATUS ColorIspInitSetting(TY_ISP_HANDLE isp_handle, TY_DEV_HANDLE dev_handle){ @@ -77,7 +68,6 @@ static TY_STATUS ColorIspInitSetting(TY_ISP_HANDLE isp_handle, TY_DEV_HANDLE dev TYSetInt(dev_handle, TY_COMPONENT_RGB_CAM, TY_INT_ANALOG_GAIN, 1); } } - TYISPSetFeature(isp_handle, TY_ISP_FEATURE_BAYER_PATTERN, TY_ISP_BAYER_AUTO); float shading[9] = { 0.30890417098999026, 10.63355541229248, -6.433426856994629, 0.24413758516311646, 11.739893913269043, -8.148622512817383, 0.1255662441253662, 11.88359546661377, -7.865192413330078 }; @@ -90,28 +80,11 @@ static TY_STATUS ColorIspInitSetting(TY_ISP_HANDLE isp_handle, TY_DEV_HANDLE dev ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_GAMMA, 1.f)); ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_AUTOBRIGHT, 1));//enable auto bright control ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_ENABLE_AUTO_EXPOSURE_GAIN, 0));//disable ae by default - int default_image_size[2] = { 1280, 960 };// image size - int current_image_size[2] = { 1280, 960 };// image size for current parameters - TY_IMAGE_MODE img_mode; -#if 1 - res = TYGetEnum(dev_handle, TY_COMPONENT_RGB_CAM, TY_ENUM_IMAGE_MODE, &img_mode); - if (res == TY_STATUS_OK) { - __TYParseSizeFromImageMode(img_mode, current_image_size); - } - TY_ENUM_ENTRY mode_entry[10]; - uint32_t num; - res = TYGetEnumEntryInfo(dev_handle, TY_COMPONENT_RGB_CAM, TY_ENUM_IMAGE_MODE, mode_entry, 10, &num); - if (res == TY_STATUS_OK) { - __TYParseSizeFromImageMode(mode_entry[0].value, default_image_size); - } - -#else - //some device may not support WIDTH & HEIGHT feature. image mode is recommended - TYGetInt(dev_handle, TY_COMPONENT_RGB_CAM, TY_INT_WIDTH, &image_size[0]); - TYGetInt(dev_handle, TY_COMPONENT_RGB_CAM, TY_INT_HEIGHT, &image_size[1]); -#endif - ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_IMAGE_SIZE, (uint8_t*)&default_image_size, sizeof(default_image_size)));//the orignal raw image size - ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_INPUT_RESAMPLE_SCALE, default_image_size[0] / current_image_size[0]));//resampled input + int image_size[2] = { 1280, 960 };// image size for current parameters + int current_image_width = 1280; + TYGetInt(dev_handle, TY_COMPONENT_RGB_CAM, TY_INT_WIDTH, ¤t_image_width); + ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_IMAGE_SIZE, (uint8_t*)&image_size, sizeof(image_size)));//input raw image size + ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_INPUT_RESAMPLE_SCALE, image_size[0] / current_image_width)); #if 1 ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_ENABLE_AUTO_WHITEBALANCE, 1)); //eanble auto white balance #else @@ -158,26 +131,14 @@ static TY_STATUS ColorIspInitAutoExposure(TY_ISP_HANDLE isp_handle, TY_DEV_HANDL ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_AUTO_GAIN_RANGE, (uint8_t*)&old_auto_gain_range, sizeof(old_auto_gain_range))); } else{ -#define CHECK_GO_FAILED(a) {if((a)!=TY_STATUS_OK) break;} - do{ - TY_FEATURE_ID_LIST feature_id = TY_INT_GAIN; - bool val; - CHECK_GO_FAILED(TYHasFeature(dev_handle, TY_COMPONENT_RGB_CAM, TY_INT_GAIN, &val)); - if (val) { - feature_id = TY_INT_GAIN; - } - CHECK_GO_FAILED(TYHasFeature(dev_handle, TY_COMPONENT_RGB_CAM, TY_INT_R_GAIN, &val)); - if (val) { - feature_id = TY_INT_R_GAIN; - } - int auto_gain_range[2] = { 15, 255 }; - TY_INT_RANGE range; - CHECK_GO_FAILED(TYGetIntRange(dev_handle, TY_COMPONENT_RGB_CAM, feature_id, &range)); + int auto_gain_range[2] = { 15, 255 }; + TY_INT_RANGE range; + res = TYGetIntRange(dev_handle, TY_COMPONENT_RGB_CAM, TY_INT_EXPOSURE_TIME, &range); + if (res == TY_STATUS_OK) { auto_gain_range[0] = std::min(range.min + 1, range.max); auto_gain_range[1] = std::max(range.max - 1, range.min); - ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_AUTO_GAIN_RANGE, (uint8_t*)&auto_gain_range, sizeof(auto_gain_range))); - } while(0); -#undef CHECK_GO_FAILED + } + ASSERT_OK(TYISPSetFeature(isp_handle, TY_ISP_FEATURE_AUTO_GAIN_RANGE, (uint8_t*)&auto_gain_range, sizeof(auto_gain_range))); } #if 1 //constraint exposure time diff --git a/sample/common/Utils.hpp b/sample/common/Utils.hpp index 0b70731..670ef0a 100644 --- a/sample/common/Utils.hpp +++ b/sample/common/Utils.hpp @@ -143,9 +143,6 @@ static inline const char* colorFormatName(TY_PIXEL_FORMAT fmt) FORMAT_CASE(TY_PIXEL_FORMAT_YUYV); FORMAT_CASE(TY_PIXEL_FORMAT_DEPTH16); FORMAT_CASE(TY_PIXEL_FORMAT_BAYER8GB); - FORMAT_CASE(TY_PIXEL_FORMAT_BAYER8BG); - FORMAT_CASE(TY_PIXEL_FORMAT_BAYER8GR); - FORMAT_CASE(TY_PIXEL_FORMAT_BAYER8RG); FORMAT_CASE(TY_PIXEL_FORMAT_BGR); FORMAT_CASE(TY_PIXEL_FORMAT_JPEG); FORMAT_CASE(TY_PIXEL_FORMAT_MJPG); diff --git a/sample/common/common.hpp b/sample/common/common.hpp index 735f91d..17146b0 100644 --- a/sample/common/common.hpp +++ b/sample/common/common.hpp @@ -65,31 +65,11 @@ static inline int parseFrame(const TY_FRAME_DATA& frame, cv::Mat* pDepth *pColor = cv::Mat(frame.image[i].height, frame.image[i].width , CV_8UC3, frame.image[i].buffer); } - else if (frame.image[i].pixelFormat == TY_PIXEL_FORMAT_BAYER8GB || - frame.image[i].pixelFormat == TY_PIXEL_FORMAT_BAYER8BG || - frame.image[i].pixelFormat == TY_PIXEL_FORMAT_BAYER8GR || - frame.image[i].pixelFormat == TY_PIXEL_FORMAT_BAYER8RG - ) { - int code = cv::COLOR_BayerGB2BGR; - switch (frame.image[i].pixelFormat) - { - case TY_PIXEL_FORMAT_BAYER8GB: - code = cv::COLOR_BayerGB2BGR; - break; - case TY_PIXEL_FORMAT_BAYER8BG: - code = cv::COLOR_BayerBG2BGR; - break; - case TY_PIXEL_FORMAT_BAYER8GR: - code = cv::COLOR_BayerGR2BGR; - break; - case TY_PIXEL_FORMAT_BAYER8RG: - code = cv::COLOR_BayerRG2BGR; - break; - } + else if (frame.image[i].pixelFormat == TY_PIXEL_FORMAT_BAYER8GB){ if (!color_isp_handle){ cv::Mat raw(frame.image[i].height, frame.image[i].width , CV_8U, frame.image[i].buffer); - cv::cvtColor(raw, *pColor, code); + cv::cvtColor(raw, *pColor, cv::COLOR_BayerGB2BGR); } else{ cv::Mat raw(frame.image[i].height, frame.image[i].width @@ -97,7 +77,6 @@ static inline int parseFrame(const TY_FRAME_DATA& frame, cv::Mat* pDepth TY_IMAGE_DATA _img = frame.image[i]; pColor->create(_img.height, _img.width, CV_8UC3); int sz = _img.height* _img.width * 3; - _img.pixelFormat = frame.image[i].pixelFormat; TY_IMAGE_DATA out_buff = TYInitImageData(sz, pColor->data, _img.width, _img.height); out_buff.pixelFormat = TY_PIXEL_FORMAT_BGR; int res = TYISPProcessImage(color_isp_handle, &_img, &out_buff); @@ -105,7 +84,7 @@ static inline int parseFrame(const TY_FRAME_DATA& frame, cv::Mat* pDepth //fall back to using opencv api cv::Mat raw(frame.image[i].height, frame.image[i].width , CV_8U, frame.image[i].buffer); - cv::cvtColor(raw, *pColor, code); + cv::cvtColor(raw, *pColor, cv::COLOR_BayerGB2BGR); } } }