C++ API References

TOFCamera

namespace Arducam

class ArducamTOFCamera

#include <ArducamTOFCamera.hpp>

Camera application layer class, used to manage the camera and process frame data.

Public Functions

TofErrorCode open(Connection mode, const int index = 0)

Initialize the camera configuration and turn on the camera, set the initialization frame according to the mode

Parameters:

mode – [in] Specify the connection method.
index – [in] Device node, the default value is video0.

Returns:

An ErrorCode.

TofErrorCode openWithFile(const char *path, const int index = 0)

Initialize the camera configuration and turn on the camera, set the initialization frame according to the path

Parameters:

path – [in] Specify the camera configuration file path.
index – [in] Device node, the default value is video0.

Returns:

An ErrorCode.

TofErrorCode close()

close the camera

Returns:: An ErrorCode.

TofErrorCode start(FrameType type = FrameType::DEPTH_FRAME)

Start the camera stream and start processing.

Parameters:

type – Specify the camera output format. This parameter can be one of the following values:

RAW_FRAME
DEPTH_FRAME

Returns:

An ErrorCode.

TofErrorCode stop()

Stop camera stream and processing.

Returns:: An ErrorCode.

TofErrorCode setControl(Control mode, int value)

Set camera parameters.

Returns:: An ErrorCode.

TofErrorCode setControlExt(Control mode, const char *value)

Set camera parameters.

Returns:: An ErrorCode.

TofErrorCode getControl(Control mode, int *value)

Get camera parameters.

Returns:: An ErrorCode.

TofErrorCode getControlExt(Control mode, const char **value)

Get camera parameters.

Returns:: An ErrorCode.

TofErrorCode writeSensor(uint32_t addr, uint32_t val)

Write Sensor Register.

Returns:: An ErrorCode.

TofErrorCode readSensor(uint32_t addr, uint32_t &val)

Read Sensor Register.

Returns:: An ErrorCode.

CameraInfo getCameraInfo() const

Get the Camera frames format.

Returns:: All frame data formats contained in frame, The returned value include: width, height and Frametype

ArducamFrameBuffer *requestFrame(int16_t timeout)

Request a frame of data from the frame processing thread.

Parameters:: timeout – Timeout time, -1 if wait indefinitely, 0 if immediate, other values indicate the maximum waiting time, in milliseconds.
Returns:: ArducamTOFFrame class address.

TofErrorCode releaseFrame(ArducamFrameBuffer *frame)

Free the memory space of the frame.

Parameters:: frame – The address of the frame to be released
Returns:: An ErrorCode.

FrameBuffer

namespace Arducam

class ArducamFrameBuffer

#include <ArducamTOFData.hpp>

AbstractData.

Subclassed by Arducam::CacheData, Arducam::DepthData, Arducam::RawData

Public Functions

virtual void *getData(FrameType type) = 0

Get the Pointer of Frame Data.

Parameters:

type – [in] Specify the frame data type. This parameter can be one of the following values:

RAW_FRAME
CONFIDENCE_FRAME
DEPTH_FRAME

Returns:

Return Pointer of Frame Data.The returned pointer type can be one of the following type:

int16_t* : RAW_FRAME
float* : DEPTH_FRAME
float* : CONFIDENCE_FRAME

virtual TofErrorCode getFormat(FrameType type, FrameFormat &format) = 0

Specify the frame data type to get the frame data format.

Parameters:

type – [in] Specify the frame data type. This parameter can be one of the following values:
- RAW_FRAME
- CONFIDENCE_FRAME
- DEPTH_FRAME
format – [out] Returns the frame data format of the specified frame type

Returns:

An ErrorCode.

Utils

namespace Arducam

Enums

enum TofErrorCode

Error code.

Values:

enumerator ArducamSuccess

enumerator ArducamInvalidParameter

enumerator ArducamNoCache

enumerator ArducamUnkownDevice

enumerator ArducamNotImplemented

enumerator ArducamSkipFrame

enumerator ArducamSystemError

enumerator ArducamUnkownError

enum Connection

camera connection method.

Values:

enumerator CSI

enumerator USB

enumerator CONNECT_COUNT

enum DeviceType

DeviceType.

Values:

enumerator DEVICE_VGA

enumerator DEVICE_HQVGA

enum FrameType

Some types of frame data.

Values:

enumerator RAW_FRAME

enumerator CONFIDENCE_FRAME

enumerator DEPTH_FRAME

enumerator AMPLITUDE_FRAME

enumerator CACHE_FRAME

enumerator FRAME_TYPE_COUNT

enum Control

Camera control type.

Values:

enumerator RANGE

enumerator FMT_WIDTH

enumerator FMT_HEIGHT

enumerator MODE

enumerator FRAME_MODE

enumerator EXPOSURE

enumerator FRAME_RATE

enumerator SKIP_FRAME

enumerator SKIP_FRAME_LOOP

enumerator AUTO_FRAME_RATE

enumerator INTRINSIC_FX: focal length in x direction, the real fx is this value / 100

enumerator INTRINSIC_FY: focal length in y direction, the real fy is this value / 100

enumerator INTRINSIC_CX: principal point in x direction, the real cx is this value / 100

enumerator INTRINSIC_CY: principal point in y direction, the real cy is this value / 100

enumerator DENOISE: denoise level

enumerator HFLIP

enumerator VFLIP

enumerator CONFIG_DIR_EXT

enumerator LOAD_CALI_DATA

enumerator SAVE_CALI_DATA

enumerator I2C_BY_PASS

enumerator I2C_BUS_NUM

enum TofWorkMode

Values:

enumerator SINGLE_FREQ: work with single frequency

enumerator DOUBLE_FREQ

enumerator TRIPLE_FREQ

enumerator QUAD_FREQ

enumerator DISTANCE: according to distance measurement parameters to choose parameters

enumerator HDR: configure chip to measure very near or far object (useful for AE)

enumerator AE

enumerator BG_OUTDOOR: configure chip to measure background IR radiation (no light from vcsel during phase frame)

enumerator GRAY_ONLY

enumerator CUSTOM1: for hw-cstar project

enumerator CUSTOM2

enumerator CUSTOM3

enum TofFrameWorkMode

Values:

enumerator SINGLE_FREQ_2PHASE

enumerator SINGLE_FREQ_4PHASE

enumerator SINGLE_FREQ_4PHASE_GRAY: whole frame: 4phase+gray

enumerator SINGLE_FREQ_4PHASE_BG: whole frame: 4phase+bg

enumerator SINGLE_FREQ_4PHASE_4BG: whole frame: 4phase+4bg

enumerator SINGLE_FREQ_4PHASE_GRAY_5BG: whole frame: 4phase+gray+5bg

enumerator SINGLE_FREQ_GRAY_BG_4PHASE_GRAY_BG

enumerator SINGLE_FREQ_GRAY_BG_4PHASE_BG

enumerator SINGLE_FREQ_BG_GRAY_BG_4PHASE

enumerator SINGLE_FREQ_BG_4PHASE_BG_GRAY

enumerator DOUBLE_FREQ_4PHASE: each frequency has 4phase, whole frame: 4phase+4phase

enumerator DOUBLE_FREQ_4PHASE_GRAY_4PHASE_BG: whole frame: (4phase+gray)+(4phase+bg)

enumerator DOUBLE_FREQ_4PHASE_4BG: whole frame: (4phase+4bg)+(4phase+4bg)

enumerator DOUBLE_FREQ_4PHASE_GRAY_5BG: whole frame: (4phase+gray+5bg)+(4phase+gray+5bg)

enumerator TRIPLE_FREQ_4PHASE: whole frame: (4phase)+(4phase)+(4phase)

enumerator TRIPLE_FREQ_4PHASE_GRAY_4PHASE_GRAY_4PHASE_BG: whole frame: (4phase+gray)+(4phase+gray)+(4phase+bg)

enumerator QUAD_FREQ_4PHASE: whole frame: (4phase)+(4phase)+(4phase)+(4phase)

enumerator QUAD_FREQ_4PHASE_GRAY_4PHASE_BG_4PHASE_GRAY_4PHASE_BG

enumerator BG_OUTDOOR

enumerator GRAY_ONLY

enumerator CUSTOM

enum Platform

Platform type.

Values:

enumerator Default

enumerator Windows

enumerator Jetson_Nano

enumerator Jetson_NX

enumerator Jetson_Other

enumerator Raspberry_Pi

enumerator Raspberry_Pi5

enumerator Radxa_Rock

Functions

const char *to_str(TofErrorCode error)

static inline constexpr int to_int(TofWorkMode mode)

static inline constexpr int to_int(TofFrameWorkMode mode)

struct CameraInfo

#include <ArducamTOFUnity.hpp>

Basic information of the camera module.

Public Members

unsigned int index

Connection connect

DeviceType device_type

FrameType type

unsigned int width

unsigned int height

unsigned int bit_width

unsigned int bpp

struct FrameFormat

#include <ArducamTOFUnity.hpp>

Description of frame data format.

Public Functions

inline bool operator==(const FrameFormat &rhs) const

inline bool operator!=(const FrameFormat &rhs) const

FrameFormat &operator=(const FrameFormat &src) = default

Public Members

unsigned int width: width of frame

unsigned int height: height of frame

FrameType type: type of frame

uint64_t timestamp: type of frame