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;
61 # define __bool_true_false_are_defined 1 70 # include <WinSock2.h> 76 # define TY_DLLIMPORT __declspec(dllimport) 77 # define TY_DLLEXPORT __declspec(dllexport) 79 # define TY_STDC __stdcall 80 # define TY_CDEC __cdecl 89 # define TY_DLLIMPORT __attribute__((visibility("default"))) 90 # define TY_DLLEXPORT __attribute__((visibility("default"))) 92 # if defined(__i386__) 93 # define TY_STDC __attribute__((stdcall)) 94 # define TY_CDEC __attribute__((cdecl)) 101 #ifdef TY_BUILDING_LIB 102 # define TY_EXPORT TY_DLLEXPORT 104 # define TY_EXPORT TY_DLLIMPORT 107 #if !defined(TY_EXTC) 108 # if defined(__cplusplus) 109 # define TY_EXTC extern "C" 122 TY_STATUS_ERROR = -1001,
123 TY_STATUS_NOT_INITED = -1002,
124 TY_STATUS_NOT_IMPLEMENTED = -1003,
125 TY_STATUS_NOT_PERMITTED = -1004,
126 TY_STATUS_DEVICE_ERROR = -1005,
127 TY_STATUS_INVALID_PARAMETER = -1006,
128 TY_STATUS_INVALID_HANDLE = -1007,
129 TY_STATUS_INVALID_COMPONENT = -1008,
130 TY_STATUS_INVALID_FEATURE = -1009,
131 TY_STATUS_WRONG_TYPE = -1010,
132 TY_STATUS_WRONG_SIZE = -1011,
133 TY_STATUS_OUT_OF_MEMORY = -1012,
134 TY_STATUS_OUT_OF_RANGE = -1013,
135 TY_STATUS_TIMEOUT = -1014,
136 TY_STATUS_WRONG_MODE = -1015,
137 TY_STATUS_BUSY = -1016,
138 TY_STATUS_IDLE = -1017,
139 TY_STATUS_NO_DATA = -1018,
140 TY_STATUS_NO_BUFFER = -1019,
141 TY_STATUS_NULL_POINTER = -1020,
142 TY_STATUS_READONLY_FEATURE = -1021,
143 TY_STATUS_INVALID_DESCRIPTOR= -1022,
144 TY_STATUS_INVALID_INTERFACE = -1023,
145 TY_STATUS_FIRMWARE_ERROR = -1024,
148 TY_STATUS_DEV_EPERM = -1,
149 TY_STATUS_DEV_EIO = -5,
150 TY_STATUS_DEV_ENOMEM = -12,
151 TY_STATUS_DEV_EBUSY = -16,
152 TY_STATUS_DEV_EINVAL = -22,
155 typedef int32_t TY_STATUS;
157 typedef enum TY_FW_ERRORCODE_LIST:uint32_t
159 TY_FW_ERRORCODE_CAM0_NOT_DETECTED = 0x00000001,
160 TY_FW_ERRORCODE_CAM1_NOT_DETECTED = 0x00000002,
161 TY_FW_ERRORCODE_CAM2_NOT_DETECTED = 0x00000004,
162 TY_FW_ERRORCODE_POE_NOT_INIT = 0x00000008,
163 TY_FW_ERRORCODE_RECMAP_NOT_CORRECT = 0x00000010,
164 TY_FW_ERRORCODE_LOOKUPTABLE_NOT_CORRECT = 0x00000020,
165 TY_FW_ERRORCODE_DRV8899_NOT_INIT = 0x00000040,
166 TY_FW_ERRORCODE_CONFIG_NOT_FOUND = 0x00010000,
167 TY_FW_ERRORCODE_CONFIG_NOT_CORRECT = 0x00020000,
168 TY_FW_ERRORCODE_XML_NOT_FOUND = 0x00040000,
169 TY_FW_ERRORCODE_XML_NOT_CORRECT = 0x00080000,
170 TY_FW_ERRORCODE_XML_OVERRIDE_FAILED = 0x00100000,
171 TY_FW_ERRORCODE_CAM_INIT_FAILED = 0x00200000,
172 TY_FW_ERRORCODE_LASER_INIT_FAILED = 0x00400000,
173 }TY_FW_ERRORCODE_LIST;
174 typedef uint32_t TY_FW_ERRORCODE;
176 typedef enum TY_EVENT_LIST :int32_t
178 TY_EVENT_DEVICE_OFFLINE = -2001,
179 TY_EVENT_LICENSE_ERROR = -2002,
180 TY_EVENT_FW_INIT_ERROR = -2003,
182 typedef int32_t TY_EVENT;
215 TY_FEATURE_INT = 0x1000,
216 TY_FEATURE_FLOAT = 0X2000,
217 TY_FEATURE_ENUM = 0x3000,
218 TY_FEATURE_BOOL = 0x4000,
219 TY_FEATURE_STRING = 0x5000,
220 TY_FEATURE_BYTEARRAY = 0x6000,
221 TY_FEATURE_STRUCT = 0x7000,
223 typedef uint32_t TY_FEATURE_TYPE;
238 TY_INT_PERSISTENT_IP = 0x0010 | TY_FEATURE_INT,
239 TY_INT_PERSISTENT_SUBMASK = 0x0011 | TY_FEATURE_INT,
240 TY_INT_PERSISTENT_GATEWAY = 0x0012 | TY_FEATURE_INT,
241 TY_BOOL_GVSP_RESEND = 0x0013 | TY_FEATURE_BOOL,
243 TY_INT_ACCEPTABLE_PERCENT = 0x0015 | TY_FEATURE_INT,
245 TY_INT_PACKET_SIZE = 0x0017 | TY_FEATURE_INT,
249 TY_INT_WIDTH_MAX = 0x0100 | TY_FEATURE_INT,
250 TY_INT_HEIGHT_MAX = 0x0101 | TY_FEATURE_INT,
251 TY_INT_OFFSET_X = 0x0102 | TY_FEATURE_INT,
252 TY_INT_OFFSET_Y = 0x0103 | TY_FEATURE_INT,
348 typedef enum TY_DEPTH_QUALITY_LIST :uint32_t
350 TY_DEPTH_QUALITY_BASIC = 1,
351 TY_DEPTH_QUALITY_MEDIUM = 2,
352 TY_DEPTH_QUALITY_HIGH = 4,
353 }TY_DEPTH_QUALITY_LIST;
354 typedef uint32_t TY_DEPTH_QUALITY;
359 TY_TRIGGER_POL_FALLINGEDGE = 0,
360 TY_TRIGGER_POL_RISINGEDGE = 1,
362 typedef uint32_t TY_TRIGGER_POL;
368 TY_INTERFACE_UNKNOWN = 0,
369 TY_INTERFACE_RAW = 1,
370 TY_INTERFACE_USB = 2,
371 TY_INTERFACE_ETHERNET = 4,
372 TY_INTERFACE_IEEE80211 = 8,
373 TY_INTERFACE_ALL = 0xffff,
375 typedef uint32_t TY_INTERFACE_TYPE;
381 TY_ACCESS_READABLE = 0x1,
382 TY_ACCESS_WRITABLE = 0x2,
384 typedef uint8_t TY_ACCESS_MODE;
389 TY_STREAM_ASYNC_OFF = 0,
390 TY_STREAM_ASYNC_DEPTH = 1,
391 TY_STREAM_ASYNC_RGB = 2,
392 TY_STREAM_ASYNC_DEPTH_RGB = 3,
393 TY_STREAM_ASYNC_ALL = 0xff,
395 typedef uint8_t TY_STREAM_ASYNC_MODE;
402 TY_PIXEL_8BIT = 0x1 << 28,
403 TY_PIXEL_16BIT = 0x2 << 28,
404 TY_PIXEL_24BIT = 0x3 << 28,
405 TY_PIXEL_32BIT = 0x4 << 28,
407 TY_PIXEL_10BIT = 0x5 << 28,
408 TY_PIXEL_12BIT = 0x6 << 28,
409 TY_PIXEL_14BIT = 0x7 << 28,
411 TY_PIXEL_48BIT = (uint32_t)0x8 << 28,
413 TY_PIXEL_64BIT = (uint32_t)0xa << 28,
415 typedef uint32_t TY_PIXEL_BITS;
420 TY_PIXEL_FORMAT_UNDEFINED = 0,
460 typedef uint32_t TY_PIXEL_FORMAT;
485 typedef int32_t TY_RESOLUTION_MODE;
488 #define TY_DECLARE_IMAGE_MODE0(pix, res) \ 489 TY_IMAGE_MODE_##pix##_##res = TY_PIXEL_FORMAT_##pix | TY_RESOLUTION_MODE_##res 490 #define TY_DECLARE_IMAGE_MODE1(pix) \ 491 TY_DECLARE_IMAGE_MODE0(pix, 160x100), \ 492 TY_DECLARE_IMAGE_MODE0(pix, 160x120), \ 493 TY_DECLARE_IMAGE_MODE0(pix, 320x180), \ 494 TY_DECLARE_IMAGE_MODE0(pix, 320x200), \ 495 TY_DECLARE_IMAGE_MODE0(pix, 320x240), \ 496 TY_DECLARE_IMAGE_MODE0(pix, 480x640), \ 497 TY_DECLARE_IMAGE_MODE0(pix, 640x360), \ 498 TY_DECLARE_IMAGE_MODE0(pix, 640x400), \ 499 TY_DECLARE_IMAGE_MODE0(pix, 640x480), \ 500 TY_DECLARE_IMAGE_MODE0(pix, 960x1280), \ 501 TY_DECLARE_IMAGE_MODE0(pix, 1280x720), \ 502 TY_DECLARE_IMAGE_MODE0(pix, 1280x960), \ 503 TY_DECLARE_IMAGE_MODE0(pix, 1280x800), \ 504 TY_DECLARE_IMAGE_MODE0(pix, 1920x1080), \ 505 TY_DECLARE_IMAGE_MODE0(pix, 2560x1920), \ 506 TY_DECLARE_IMAGE_MODE0(pix, 2592x1944), \ 507 TY_DECLARE_IMAGE_MODE0(pix, 1920x1440), \ 508 TY_DECLARE_IMAGE_MODE0(pix, 240x96) 516 TY_DECLARE_IMAGE_MODE1(MONO),
517 TY_DECLARE_IMAGE_MODE1(MONO16),
518 TY_DECLARE_IMAGE_MODE1(TOF_IR_MONO16),
519 TY_DECLARE_IMAGE_MODE1(DEPTH16),
520 TY_DECLARE_IMAGE_MODE1(YVYU),
521 TY_DECLARE_IMAGE_MODE1(YUYV),
522 TY_DECLARE_IMAGE_MODE1(RGB),
523 TY_DECLARE_IMAGE_MODE1(JPEG),
525 TY_DECLARE_IMAGE_MODE1(BAYER8GB),
526 TY_DECLARE_IMAGE_MODE1(BAYER8BG),
527 TY_DECLARE_IMAGE_MODE1(BAYER8GR),
528 TY_DECLARE_IMAGE_MODE1(BAYER8RG),
530 TY_DECLARE_IMAGE_MODE1(BAYER8GRBG),
531 TY_DECLARE_IMAGE_MODE1(BAYER8RGGB),
532 TY_DECLARE_IMAGE_MODE1(BAYER8GBRG),
533 TY_DECLARE_IMAGE_MODE1(BAYER8BGGR),
535 TY_DECLARE_IMAGE_MODE1(CSI_MONO10),
536 TY_DECLARE_IMAGE_MODE1(CSI_BAYER10GRBG),
537 TY_DECLARE_IMAGE_MODE1(CSI_BAYER10RGGB),
538 TY_DECLARE_IMAGE_MODE1(CSI_BAYER10GBRG),
539 TY_DECLARE_IMAGE_MODE1(CSI_BAYER10BGGR),
541 TY_DECLARE_IMAGE_MODE1(CSI_MONO12),
542 TY_DECLARE_IMAGE_MODE1(CSI_BAYER12GRBG),
543 TY_DECLARE_IMAGE_MODE1(CSI_BAYER12RGGB),
544 TY_DECLARE_IMAGE_MODE1(CSI_BAYER12GBRG),
545 TY_DECLARE_IMAGE_MODE1(CSI_BAYER12BGGR),
547 TY_DECLARE_IMAGE_MODE1(MJPG),
548 TY_DECLARE_IMAGE_MODE1(RGB48),
549 TY_DECLARE_IMAGE_MODE1(BGR48),
550 TY_DECLARE_IMAGE_MODE1(BGR),
551 TY_DECLARE_IMAGE_MODE1(XYZ48)
553 typedef uint32_t TY_IMAGE_MODE;
554 #undef TY_DECLARE_IMAGE_MODE0 555 #undef TY_DECLARE_IMAGE_MODE1 564 TY_TRIGGER_MODE_SIG_PASS = 18,
565 TY_TRIGGER_MODE_PER_PASS = 19,
566 TY_TRIGGER_MODE_TIMER_LIST = 20,
567 TY_TRIGGER_MODE_TIMER_PERIOD= 21,
569 TY_TRIGGER_WORK_MODE31 = 31,
570 TY_TRIGGER_MODE_SIG_LASER = 34,
572 typedef int16_t TY_TRIGGER_MODE;
577 TY_TIME_SYNC_TYPE_NONE = 0,
578 TY_TIME_SYNC_TYPE_HOST = 1,
579 TY_TIME_SYNC_TYPE_NTP = 2,
580 TY_TIME_SYNC_TYPE_PTP = 3,
581 TY_TIME_SYNC_TYPE_CAN = 4,
582 TY_TIME_SYNC_TYPE_PTP_MASTER = 5,
584 typedef uint32_t TY_TIME_SYNC_TYPE;
586 typedef enum: uint32_t{
592 typedef uint32_t TY_E_VOLT_T;
594 typedef enum: uint32_t{
600 typedef uint32_t TY_E_DO_MODE;
602 typedef enum: uint32_t{
610 typedef uint32_t TY_E_DI_MODE;
612 typedef enum: uint32_t {
616 TY_DI_INT_TRIG_CAP = 1,
619 }TY_E_DI_INT_ACTION_LIST;
620 typedef uint32_t TY_E_DI_INT_ACTION;
658 TY_INTERFACE_TYPE type;
669 char userDefinedName[32];
678 char configVersion[256];
729 char description[64];
731 uint32_t reserved[3];
793 int32_t intrinsicWidth;
794 int32_t intrinsicHeight;
804 TY_TRIGGER_MODE mode;
812 TY_TRIGGER_MODE mode;
819 int32_t laser_stream;
835 uint64_t start_time_us;
836 uint32_t offset_us_count;
837 uint32_t offset_us_list[50];
843 uint64_t start_time_us;
844 uint32_t trigger_count;
858 uint64_t packetReceived;
860 uint64_t imageOutputed;
861 uint64_t imageDropped;
959 typedef enum TY_IMU_FPS_LIST
961 TY_IMU_FPS_100HZ = 0,
1018 uint32_t mode_supported;
1019 uint32_t volt_supported;
1020 uint32_t reserved[3];
1027 TY_E_DI_INT_ACTION int_act;
1029 uint32_t mode_supported;
1031 uint32_t int_act_supported;
1034 uint32_t reserved[3];
1039 typedef void (*TY_EVENT_CALLBACK) (
TY_EVENT_INFO*,
void* userdata);
1040 typedef void (*TY_IMU_CALLBACK) (
TY_IMU_DATA*,
void* userdata);
1046 static inline bool TYIsNetworkInterface(int32_t interfaceType)
1048 return (interfaceType == TY_INTERFACE_ETHERNET) ||
1049 (interfaceType == TY_INTERFACE_IEEE80211);
1052 static inline void TYIntToIPv4(uint32_t addr, uint8_t out[4])
1054 out[0] = (addr>>24) & 0xff;
1055 out[1] = (addr>>16) & 0xff;
1056 out[2] = (addr>>8) & 0xff;
1057 out[3] = (addr>>0) & 0xff;
1060 static inline uint32_t TYIPv4ToInt(uint8_t ip[4])
1062 return (ip[0] << 24) | (ip[1] << 16) | (ip[2] << 8) | ip[3];
1066 static inline TY_IMAGE_DATA TYInitImageData(
size_t size,
void* buffer
1067 ,
size_t width,
size_t height)
1083 static inline TY_FEATURE_TYPE TYFeatureType(
TY_FEATURE_ID id)
1089 static inline int32_t TYPixelSize(TY_IMAGE_MODE imageMode)
1091 return ((imageMode >> 28) & 0xf);
1095 static inline int32_t TYBitsPerPixel(TY_IMAGE_MODE imageMode)
1097 TY_PIXEL_BITS bits = imageMode & (0xf << 28);
1099 case TY_PIXEL_16BIT:
1101 case TY_PIXEL_24BIT:
1103 case TY_PIXEL_32BIT:
1105 case TY_PIXEL_48BIT:
1107 case TY_PIXEL_64BIT:
1109 case TY_PIXEL_10BIT:
1111 case TY_PIXEL_12BIT:
1120 static inline int32_t TYPixelLineSize(
int width, TY_IMAGE_MODE imageMode)
1122 return (width * TYBitsPerPixel(imageMode)) >> 3;
1126 static inline TY_IMAGE_MODE TYImageMode(TY_PIXEL_FORMAT pix, TY_RESOLUTION_MODE res)
1132 static inline TY_RESOLUTION_MODE TYResolutionMode2(
int width,
int height){
1133 return (TY_RESOLUTION_MODE)((width << 12) + height);
1137 static inline TY_IMAGE_MODE TYImageMode2(TY_PIXEL_FORMAT pix,
int width,
int height)
1139 return pix | TYResolutionMode2(width, height);
1143 static inline TY_PIXEL_FORMAT TYPixelFormat(TY_IMAGE_MODE imageMode)
1145 return imageMode & 0xff000000;
1149 static inline TY_RESOLUTION_MODE TYResolutionMode(TY_IMAGE_MODE imageMode)
1151 return imageMode & 0x00ffffff;
1155 static inline int32_t TYImageWidth(TY_IMAGE_MODE imageMode)
1157 return TYResolutionMode(imageMode) >> 12;
1161 static inline int32_t TYImageHeight(TY_IMAGE_MODE imageMode)
1163 return TYResolutionMode(imageMode) & 0x0fff;
1169 #define TY_CAPI TY_EXTC TY_EXPORT TY_STATUS TY_STDC 1175 TY_EXTC TY_EXPORT
const char* TY_STDC
TYErrorString (TY_STATUS errorID);
1186 static inline TY_STATUS TYInitLib (
void);
1782 ,
TY_FEATURE_INFO* featureInfo, uint32_t entryCount, uint32_t* filledEntryCount);
1834 TY_CAPI _TYInitLib(
void);
1835 static inline TY_STATUS TYInitLib(
void)
1839 if(!(soVersion.major == TY_LIB_VERSION_MAJOR && soVersion.minor >= TY_LIB_VERSION_MINOR)){
1842 return _TYInitLib();
1848 TY_EXTC TY_EXPORT
const char* TY_STDC
TYErrorString (TY_STATUS errorID);
1850 inline TY_STATUS TYInitLib (
void);
TY_CAPI TYSetBool(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool value)
Set value of bool feature.
TY_CAPI TYHasDevice(TY_INTERFACE_HANDLE ifaceHandle, const char *deviceID, bool *value)
Check whether the interface has the specified device.
IMU fps, see TY_IMU_FPS_LIST.
TY_CAPI TYRegisterImuCallback(TY_DEV_HANDLE hDevice, TY_IMU_CALLBACK callback, void *userdata)
Register imu callback. Register NULL to clean callback.
int32_t size
Bytes array size in bytes.
TY_VERSION_INFO hardwareVersion
deprecated
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.
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.
IMU gyro scale matrix, see TY_GYRO_SCALE.
TY_CAPI TYCloseInterface(TY_INTERFACE_HANDLE ifaceHandle)
Close interface.
void * TY_DEV_HANDLE
Device Handle.
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.
struct TY_BYTEARRAY_ATTR TY_BYTEARRAY_ATTR
byte array data structure
int32_t componentID
Where current data come from.
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_VERSION_INFO firmwareVersion
deprecated
bool isValid
true if feature exists, false otherwise
int32_t bufferSize
Size of userBuffer.
stream async switch, see TY_STREAM_ASYNC_MODE
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_CAPI TYGetDeviceInterface(TY_DEV_HANDLE hDevice, TY_INTERFACE_HANDLE *pIface)
Get interface handle by device handle.
TY_FEATURE_ID bindFeatureID
feature ID current feature bind to
TY_CAPI TYUpdateDeviceList(TY_INTERFACE_HANDLE ifaceHandle)
Update current connected devices.
the frequency of tof, see TY_TOF_FREQ
param of trigger, see TY_TRIGGER_PARAM_EX
struct TY_CAMERA_EXTRINSIC TY_CAMERA_EXTRINSIC
TY_CAPI TYGetEnum(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t *value)
Get current value of enum feature.
TY_RESOLUTION_MODE_LIST
predefined resolution list
SGBM match window height.
IMU acc bias matrix, see TY_ACC_BIAS.
the quality of generated depth, see TY_DEPTH_QUALITY
struct TY_CAMERA_INTRINSIC TY_CAMERA_INTRINSIC
Some device has only one RGB camera, map it to left.
Abstract component stands for whole device, always enabled.
used for reading/writing fpn block
Trigger duration time, in microseconds.
TY_CAPI TYOpenInterface(const char *ifaceID, TY_INTERFACE_HANDLE *outHandle)
Open specified interface.
SGBM uniqueness factor param.
TY_CAPI TYSetFloat(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float value)
Set value of float feature.
TY_CAPI TYSetInt(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value)
Set value of integer feature.
trigger mode 30,Alternate output depth image/ir image
virtual component for device storage
SGBM enable left right consist check.
uint32_t TY_COMPONENT_ID
component unique id
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.
DI_0 workmode, see TY_DI_WORKMODE.
TY_CAPI TYGetDeviceFeatureInfo(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_INFO *featureInfo, uint32_t entryCount, uint32_t *filledEntryCount)
Get the all features by comp id.
TY_CAPI TYGetComponentIDs(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID *componentIDs)
Get all components IDs.
TY_CAPI TYEnqueueBuffer(TY_DEV_HANDLE hDevice, void *buffer, uint32_t bufferSize)
Enqueue a user allocated buffer.
the rectified intrinsic. see TY_CAMERA_INTRINSIC
Exposure time in percentage.
DI_1 workmode, see TY_DI_WORKMODE.
Output undistorted image.
device network information
DO_2 workmode, see TY_DO_WORKMODE.
IMU acc misalignment matrix, see TY_ACC_MISALIGNMENT.
the threshold of the noise filter, 0 for disabled
struct TY_CAMERA_CALIB_INFO TY_CAMERA_CALIB_INFO
bool writableAtRun
feature can be written while capturing
TY_CAPI TYClearBufferQueue(TY_DEV_HANDLE hDevice)
Clear the internal buffer queue, so that user can release all the buffer.
TY_CAPI TYGetInt(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t *value)
Get value of integer feature.
TY_PIXEL_FORMAT_LIST
pixel format definitions
TY_FEATURE_TYPE_LIST
Feature Format Type definitions.
TY_CAPI TYGetInterfaceList(TY_INTERFACE_INFO *pIfaceInfos, uint32_t bufferCount, uint32_t *filledCount)
Get interface info list.
void * TY_INTERFACE_HANDLE
Interface handle.
statistical information, see TY_CAMERA_STATISTICS
struct TY_GYRO_MISALIGNMENT TY_GYRO_MISALIGNMENT
tof sensor hdr ratio for depth
TY_CAPI TYGetFrameBufferSize(TY_DEV_HANDLE hDevice, uint32_t *bufferSize)
Get total buffer size of one frame in current configuration.
IMU acc scale matrix, see TY_ACC_SCALE.
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_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_CAPI TYGetStringLength(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t *size)
Get internal buffer size of string feature.
int32_t pixelFormat
Pixel format, see TY_PIXEL_FORMAT_LIST.
int32_t validCount
Number of valid data.
TY_CAPI TYRegisterEventCallback(TY_DEV_HANDLE hDevice, TY_EVENT_CALLBACK callback, void *userdata)
Register device status callback. Register NULL to clean callback.
not trigger mode, continuous mode
TY_TRIGGER_POL_LIST
set external trigger signal edge
TY_CAPI TYGetEnabledComponents(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID *componentIDs)
Get all enabled components IDs.
TY_CAPI TYFetchFrame(TY_DEV_HANDLE hDevice, TY_FRAME_DATA *frame, int32_t timeout)
Fetch one frame.
struct TY_GYRO_BIAS TY_GYRO_BIAS
TY_CAPI TYStopCapture(TY_DEV_HANDLE hDevice)
Stop capture.
struct TY_ENUM_ENTRY TY_ENUM_ENTRY
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_CAPI TYDisableComponents(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentIDs)
Disable components.
scale unit depth image is uint16 pixel format with default millimeter unit ,for some device can outpu...
Number of frames captured per trigger.
struct TY_DEVICE_NET_INFO TY_DEVICE_NET_INFO
device network information
param of trigger, see TY_TRIGGER_PARAM
struct TY_INTERFACE_INFO TY_INTERFACE_INFO
flashlight intensity level [0, 63]
the frequency channel of tof
IMU camera to imu matrix, see TY_CAMERA_TO_IMU.
TY_CAPI TYStartCapture(TY_DEV_HANDLE hDevice)
Start capture.
SGBM uniqueness min absolute diff.
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_CAPI TYUpdateInterfaceList()
Update current interfaces. call before TYGetInterfaceList.
int32_t width
Image width in pixels.
struct TY_DEVICE_BASE_INFO TY_DEVICE_BASE_INFO
Trigger POL, see TY_TRIGGER_POL_LIST.
TY_CAPI TYDeinitLib(void)
Deinit this library.
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.
struct TY_ACC_MISALIGNMENT TY_ACC_MISALIGNMENT
int32_t imageIndex
image index used in trigger mode
TY_CAPI TYLibVersion(TY_VERSION_INFO *version)
Get current library version.
IMU gyro misalignment matrix, see TY_GYRO_MISALIGNMENT.
TY_CAPI TYSendSoftTrigger(TY_DEV_HANDLE hDevice)
Send a software trigger to capture a frame when device works in trigger mode.
Inertial Measurement Unit.
TY_CAPI TYGetDeviceFeatureNumber(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, uint32_t *size)
Get the size of device features .
TY_STATUS_LIST
API call return status.
float range data structure
TY_FEATURE_ID featureID
feature unique id
TY_CAPI TYUpdateAllDeviceList()
Update current connected devices.
param of trigger mode 21, see TY_TRIGGER_TIMER_PERIOD
param of trigger mode 20, see TY_TRIGGER_TIMER_LIST
TY_CAPI TYOpenDevice(TY_INTERFACE_HANDLE ifaceHandle, const char *deviceID, TY_DEV_HANDLE *outDeviceHandle, TY_FW_ERRORCODE *outFwErrorcode=NULL)
Open device by device ID.
SGBM enable half window size.
DO_0 workmode, see TY_DO_WORKMODE.
TY_CAPI TYGetEnumEntryCount(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t *entryCount)
Get number of enum entries.
struct TY_ACC_BIAS TY_ACC_BIAS
uint32_t TY_FEATURE_ID
feature unique id
TY_STREAM_ASYNC_MODE_LIST
stream async mode
SGBM enable median filter.
TY_CAPI TYHasInterface(const char *ifaceID, bool *value)
Check if has interface.
region of aec statistics, see TY_AEC_ROI_PARAM
DI_2 workmode, see TY_DI_WORKMODE.
TY_COMPONENT_ID componentID
owner of this feature
TY_CAPI TYCloseDevice(TY_DEV_HANDLE hDevice, bool reboot=false)
Close device by device handle.
TY_CAPI TYSetString(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const char *buffer)
Set value of string feature.
int32_t status
Status of this buffer.
virtual component for brightness histogram of ir
TY_FEATURE_ID_LIST
feature for component definitions
IMU gyro bias matrix, see TY_GYRO_BIAS.
int32_t inc
increaing step
struct TY_GYRO_SCALE TY_GYRO_SCALE
void * userBuffer
Pointer to user enqueued buffer, user should enqueue this buffer in the end of callback.
void * buffer
Pointer to data buffer.
struct TY_CAMERA_DISTORTION TY_CAMERA_DISTORTION
TY_CAPI TYGetBool(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool *value)
Get value of bool feature.
DO_1 workmode, see TY_DO_WORKMODE.
slave mode, receive soft/hardware triggers
tof jitter threshold for depth
extrinsic between left IR and current compoent, see TY_CAMERA_EXTRINSIC
SGBM semi global param p2.
int32_t height
Image height in pixels.
Resolution-PixelFromat mode, see TY_IMAGE_MODE_LIST.
TY_ACCESS_MODE accessMode
feature access privilege
used for reading/writing custom block
TY_CAPI TYGetDeviceList(TY_INTERFACE_HANDLE ifaceHandle, TY_DEVICE_BASE_INFO *deviceInfos, uint32_t bufferCount, uint32_t *filledDeviceCount)
Get device info list.
cooperation if multi-device used
TY_CAPI TYSetEnum(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t value)
Set value of enum feature.
master mode 2, periodic sending one trigger signals, 'fps' param should be set
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_CAPI TYEnableComponents(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentIDs)
Enable components.
TY_CAPI TYGetDeviceNumber(TY_INTERFACE_HANDLE ifaceHandle, uint32_t *deviceNumber)
Get number of current connected devices.
TY_CAPI TYGetInterfaceNumber(uint32_t *pNumIfaces)
Get number of current interfaces.
flashlight on/off control
byte array data structure
TY_TIME_SYNC_TYPE_LIST
type of time sync
TY_IMAGE_MODE_LIST
Predefined Image Mode List image mode controls image resolution & format predefined image modes named...
SGBM semi global param p1.
TY_CAPI TYGetFloat(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float *value)
Get value of float feature.
TY_CAPI TYGetDeviceInfo(TY_DEV_HANDLE hDevice, TY_DEVICE_BASE_INFO *info)
Get base info of the open device.
the threshold of the tof modulation
SGBM semi global param p1 scale.
uint64_t timestamp
Timestamp in microseconds.
struct TY_ACC_SCALE TY_ACC_SCALE
SGBM median filter thresh.
TY_CAPI TYGetFeatureInfo(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FEATURE_INFO *featureInfo)
Get feature info.
TY_EXTC TY_EXPORT const char *TY_STDC TYErrorString(TY_STATUS errorID)
Get error information.
master mode 1, sending one trigger signal once received a soft/hardware trigger
TY_COMPONENT_ID bindComponentID
component ID current feature bind to
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.
Trigger delay time, in microseconds.
extrinsic between depth cam and current component , see TY_CAMERA_EXTRINSIC
struct TY_FLOAT_RANGE TY_FLOAT_RANGE
float range data structure
struct TY_CAMERA_TO_IMU TY_CAMERA_TO_IMU