C++ API References
TOFCamera
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namespace Arducam
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class ArducamTOFCamera
- #include <ArducamTOFCamera.hpp>
Camera application layer class, used to manage the camera and process frame data.
Public Functions
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int 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 – Specify the connection method. This parameter can be one of the following values:
CSI
USB
path – Device node, the default value is video0.
- Returns
Return Status code, The returned value can be: OK or ERROR(0 or -1).
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int close()
close the camera
- Returns
Return Status code, The returned value can be: OK or ERROR(0 or -1).
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int 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
Return Status code, The returned value can be: OK or ERROR(0 or -1).
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int stop()
Stop camera stream and processing.
- Returns
Return Status code, The returned value can be: OK or ERROR(0 or -1).
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int setOutputType(FrameType type)
Specifies the frame Output Type.
Note
Please call the function operation to reset the frame output format before starting the camera
- Parameters
type – Specify the camera output format. This parameter can be one of the following values:
RAW_FRAME
DEPTH_FRAME
- Returns
Return Status code, The returned value can be: OK or ERROR(0 or -1).
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int setControl(ControlID mode, int value)
Set camera parameters.
- Returns
Return Status code, The returned value can be: OK or ERROR(0 or -1).
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CameraInfo getCameraInfo() const
Get the Camera frames format.
- Returns
All frame data formats contained in frame, The returned value include: width, height and Frametype
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ArducamFrameBuffer *requestFrame(int16_t timeout)
Request a frame of data from the frame processing thread.
- Parameters
timeout – Timeout time, -1 means to wait all the time, 0 means immediate range, other values indicate the maximum waiting time, the unit is milliseconds.
- Returns
ArducamTOFFrame class address.
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int releaseFrame(ArducamFrameBuffer *frame)
Free the memory space of the frame.
- Returns
Return Status code, The returned value can be: OK or ERROR(0 or -1).
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int open(Connection mode, const int index = 0)
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class ArducamTOFCamera
TOFFrame
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namespace Arducam
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class ArducamFrameBuffer
- #include <ArducamTOFData.hpp>
AbstractData.
Subclassed by Arducam::CacheData, Arducam::DepthData, Arducam::RawData
Public Functions
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virtual void *getData(FrameType type) = 0
Get the Pointer of Frame Data.
- Parameters
type – Specify the frame data type. This parameter can be one of the following values:
RAW_FRAME
AMPLITUDE_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* : AMPLITUDE_FRAME
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virtual int getFrameDataFormat(FrameType type, FrameDataFormat &format) = 0
Specify the frame data type to get the frame data format.
- Parameters
type – Specify the frame data type. This parameter can be one of the following values:
RAW_FRAME
AMPLITUDE_FRAME
DEPTH_FRAME
format – Returns the frame data format of the specified frame type
- Returns
Return Status code, The returned value can be: OK or ERROR(0 or -1).
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virtual void *getData(FrameType type) = 0
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class ArducamFrameBuffer