C API References

Enums

enum ArducamConnection

camera connection method.

Values:

enumerator CSI

enumerator USB

enumerator CONNECT_COUNT

enum ArducamDeviceType

DeviceType.

Values:

enumerator ARDUCAM_DEVICE_VGA

enumerator ARDUCAM_DEVICE_HQVGA

enum ArducamFrameType

Some types of frame data.

Values:

enumerator RAW_FRAME

enumerator CONFIDENCE_FRAME

enumerator DEPTH_FRAME

enumerator CACHE_FRAME

enumerator FRAME_TYPE_COUNT

enum ArducamControl

Values:

enumerator ARDUCAM_CONTROL_RANGE

enumerator ARDUCAM_CONTROL_FMT_WIDTH

enumerator ARDUCAM_CONTROL_FMT_HEIGHT

enumerator ARDUCAM_CONTROL_MODE

enumerator ARDUCAM_CONTROL_FRAME_MODE

enumerator ARDUCAM_CONTROL_EXPOSURE

enumerator ARDUCAM_CONTROL_FRAME_RATE

enumerator ARDUCAM_CONTROL_SKIP_FRAME

enumerator ARDUCAM_CONTROL_SKIP_FRAME_LOOP

enumerator ARDUCAM_CONTROL_CONFIG_DIR_EXT

enum ArducamTofWorkMode

Values:

enumerator ARDUCAM_MODE_SINGLE_FREQ

work with single frequency

enumerator ARDUCAM_MODE_DOUBLE_FREQ

enumerator ARDUCAM_MODE_TRIPLE_FREQ

enumerator ARDUCAM_MODE_QUAD_FREQ

enumerator ARDUCAM_MODE_DISTANCE

according to distance measurement parameters to choose parameters

enumerator ARDUCAM_MODE_HDR

configure chip to measure very near or far object (useful for AE)

enumerator ARDUCAM_MODE_AE

enumerator ARDUCAM_MODE_BG_OUTDOOR

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

enumerator ARDUCAM_MODE_GRAY_ONLY

enumerator ARDUCAM_MODE_CUSTOM1

for hw-cstar project

enumerator ARDUCAM_MODE_CUSTOM2

enumerator ARDUCAM_MODE_CUSTOM3

enum ArducamTofFrameWorkMode

Values:

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_2PHASE

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_4PHASE

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_4PHASE_GRAY

whole frame: 4phase+gray

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_4PHASE_BG

whole frame: 4phase+bg

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_4PHASE_4BG

whole frame: 4phase+4bg

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_4PHASE_GRAY_5BG

whole frame: 4phase+gray+5bg

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_GRAY_BG_4PHASE_GRAY_BG

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_GRAY_BG_4PHASE_BG

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_BG_GRAY_BG_4PHASE

enumerator ARDUCAM_SUBMODE_SINGLE_FREQ_BG_4PHASE_BG_GRAY

enumerator ARDUCAM_SUBMODE_DOUBLE_FREQ_4PHASE

each frequency has 4phase, whole frame: 4phase+4phase

enumerator ARDUCAM_SUBMODE_DOUBLE_FREQ_4PHASE_GRAY_4PHASE_BG

whole frame: (4phase+gray)+(4phase+bg)

enumerator ARDUCAM_SUBMODE_DOUBLE_FREQ_4PHASE_4BG

whole frame: (4phase+4bg)+(4phase+4bg)

enumerator ARDUCAM_SUBMODE_DOUBLE_FREQ_4PHASE_GRAY_5BG

whole frame: (4phase+gray+5bg)+(4phase+gray+5bg)

enumerator ARDUCAM_SUBMODE_TRIPLE_FREQ_4PHASE

whole frame: (4phase)+(4phase)+(4phase)

enumerator ARDUCAM_SUBMODE_TRIPLE_FREQ_4PHASE_GRAY_4PHASE_GRAY_4PHASE_BG

whole frame: (4phase+gray)+(4phase+gray)+(4phase+bg)

enumerator ARDUCAM_SUBMODE_QUAD_FREQ_4PHASE

whole frame: (4phase)+(4phase)+(4phase)+(4phase)

enumerator ARDUCAM_SUBMODE_QUAD_FREQ_4PHASE_GRAY_4PHASE_BG_4PHASE_GRAY_4PHASE_BG

enumerator ARDUCAM_SUBMODE_BG_OUTDOOR

enumerator ARDUCAM_SUBMODE_GRAY_ONLY

enumerator ARDUCAM_SUBMODE_CUSTOM

Functions

ArducamDepthCamera createArducamDepthCamera()

Create a camera instance.

Returns:

Return a ArducamDepthCamera instance.

Status arducamCameraOpen(ArducamDepthCamera camera, ArducamConnection conn, int index)

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

Parameters:

• camera – Camera instance, obtained through createArducamDepthCamera().

• conn – Specify the connection method. This parameter can be one of the following values:

  • CSI

  • USB

• index – Device node, the default value is video0.

Returns:

Return Status code.

Status arducamCameraOpenWithFile(ArducamDepthCamera camera, const char *path, int index)

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

Parameters:

• camera – Camera instance, obtained through createArducamDepthCamera().

• path – Specify the configuration file path.

• index – Device node, the default value is video0.

Returns:

Return Status code.

Status arducamCameraClose(ArducamDepthCamera *camera)

Close camera.

Parameters:

camera – Camera instance.

Returns:

Return Status code.

Status arducamCameraStart(ArducamDepthCamera camera, ArducamFrameType type)

Start the camera stream and start processing.

Parameters:

• camera – Camera instance.

• type – Type of camera output frame.

Returns:

Return Status code.

Status arducamCameraStop(ArducamDepthCamera camera)

Stop camera stream and processing.

Parameters:

camera – Camera instance.

Returns:

Return Status code.

ArducamCameraInfo arducamCameraGetInfo(ArducamDepthCamera camera)

Specifies the frame format.

Parameters:

• camera – Camera instance.

• format – Specifies the frame format. If the set format is not supported, the function will modify the value of this parameter to return the actual value used.

• camera – Camera instance.

Returns:

Return Status code. Get the Camera frames format.

Returns:

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

ArducamFrameFormat arducamCameraGetFormat(ArducamFrameBuffer fb, ArducamFrameType type)

Get the format of the specified frame.

Parameters:

• fb – Frame instance.

• type – Frame type. This parameter can be one of the following values:

  • RAW_FRAME

  • CONFIDENCE_FRAME

  • DEPTH_FRAME

Returns:

Return frame format.

Status arducamCameraSetCtrl(ArducamDepthCamera camera, ArducamControl id, int val)

Get the current camera output format.

Parameters:

• camera – Camera instance.

• id – The id of the control.

• val – The value that needs to be set.

Returns:

Return Status code.

Status arducamCameraGetCtrl(ArducamDepthCamera camera, ArducamControl id, int *val)

Get the current camera output format.

Parameters:

• camera – Camera instance.

• id – The id of the control.

• val – Return the value that needs to be get.

Returns:

Return Status code.

ArducamFrameBuffer arducamCameraRequestFrame(ArducamDepthCamera camera, int timeout)

Read frame from the camera.

Parameters:

• camera – Camera instance.

• 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:

Return Status code.

Status arducamCameraReleaseFrame(ArducamDepthCamera camera, ArducamFrameBuffer fb)

Release the ArducamFrameBuffer.

Parameters:

• camera – Camera instance.

• fb – ArducamFrameBuffer.

Returns:

Return Status code.

void *arducamCameraGetDepthData(ArducamFrameBuffer fb)

Read depth data from the frame.

Note

The output mode is the depth type, and the function can be called to obtain data

Parameters:

fb – dataframe object.

Returns:

Return Status code.

void *arducamCameraGetConfidenceData(ArducamFrameBuffer fb)

Read depth data from the frame.

Note

The output mode is the depth type, and the function can be called to obtain data.

Parameters:

fb – dataframe object.

Returns:

Return Status code.

void *arducamCameraGetRawData(ArducamFrameBuffer fb)

Read raw data from the frame.

Note

The output mode is the raw type, and the function can be called to obtain data.

Parameters:

fb – dataframe object.

Returns:

Return Status code.

struct ArducamFrameFormat

#include <ArducamDepthCamera.h>

Description of frame data format.

Public Members

uint16_t width

width of frame

uint16_t height

height of frame

ArducamFrameType type

type of frame

uint64_t timestamp

timestamp of frame

struct ArducamCameraInfo

#include <ArducamDepthCamera.h>

Basic information of the camera module.

Public Members

unsigned int index

ArducamConnection connect

ArducamDeviceType device_type

ArducamFrameType type

unsigned int width

unsigned int height

unsigned int bit_width

unsigned int bpp