API 参考

The camport3 libraries provide support for configuring PERCIPIO depth camera, data receiving and post-processing functionality.

API for Percipio depth camera

TYApi.h

includes camera control and data receiving interface, which supports configuration for image resolution, frame rate, exposure

time, gain, working mode,etc.

Defines

_STDBOOL_H

__bool_true_false_are_defined

bool

true

false

TY_DLLIMPORT

TY_DLLEXPORT

TY_STDC

TY_CDEC

TY_EXPORT

TY_EXTC

TY_DECLARE_IMAGE_MODE0(pix, res)

TY_DECLARE_IMAGE_MODE1(pix)

TY_CAPI

Typedefs

typedef enum TY_STATUS_LIST TY_STATUS_LIST: API call return status.

typedef int32_t TY_STATUS

typedef enum TY_FW_ERRORCODE_LIST TY_FW_ERRORCODE_LIST

typedef uint32_t TY_FW_ERRORCODE

typedef enum TY_EVENT_LIST TY_ENENT_LIST

typedef int32_t TY_EVENT

typedef void *TY_INTERFACE_HANDLE: Interface handle.

typedef void *TY_DEV_HANDLE: Device Handle.

typedef enum TY_DEVICE_COMPONENT_LIST TY_DEVICE_COMPONENT_LIST

@breif Device Component list A device contains several component.

Each component can be controlled by its own features, such as image width, exposure time, etc..

参见

To Know how to get feature information please refer to sample code DumpAllFeatures

typedef uint32_t TY_COMPONENT_ID

component unique id

参见

TY_DEVICE_COMPONENT_LIST

typedef enum TY_FEATURE_TYPE_LIST TY_FEATURE_TYPE_LIST: Feature Format Type definitions.

typedef uint32_t TY_FEATURE_TYPE

typedef enum TY_FEATURE_ID_LIST TY_FEATURE_ID_LIST: feature for component definitions

typedef uint32_t TY_FEATURE_ID

feature unique id

参见

TY_FEATURE_ID_LIST

typedef enum TY_DEPTH_QUALITY_LIST TY_DEPTH_QUALITY_LIST

typedef uint32_t TY_DEPTH_QUALITY

typedef enum TY_TRIGGER_POL_LIST TY_TRIGGER_POL_LIST: set external trigger signal edge

typedef uint32_t TY_TRIGGER_POL

typedef enum TY_INTERFACE_TYPE_LIST TY_INTERFACE_TYPE_LIST

Interface type definition.

参见

TYGetInterfaceList

typedef uint32_t TY_INTERFACE_TYPE

typedef enum TY_ACCESS_MODE_LIST TY_ACCESS_MODE_LIST

Indicate a feature is readable or writable.

参见

TYGetFeatureInfo

typedef uint8_t TY_ACCESS_MODE

typedef enum TY_STREAM_ASYNC_MODE_LIST TY_STREAM_ASYNC_MODE_LIST: stream async mode

typedef uint8_t TY_STREAM_ASYNC_MODE

typedef enum TY_PIXEL_BITS_LIST TY_PIXEL_BITS_LIST

Pixel size type definitions to define the pixel size in bits.

参见

TY_PIXEL_FORMAT_LIST

typedef uint32_t TY_PIXEL_BITS

typedef enum TY_PIXEL_FORMAT_LIST TY_PIXEL_FORMAT_LIST: pixel format definitions

typedef uint32_t TY_PIXEL_FORMAT

typedef enum TY_RESOLUTION_MODE_LIST TY_RESOLUTION_MODE_LIST: predefined resolution list

typedef int32_t TY_RESOLUTION_MODE

typedef enum TY_IMAGE_MODE_LIST TY_IMAGE_MODE_LIST: 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.

typedef uint32_t TY_IMAGE_MODE

typedef enum TY_TRIGGER_MODE_LIST TY_TRIGGER_MODE_LIST

参见

refer to sample SimpleView_TriggerMode for detail usage

typedef int16_t TY_TRIGGER_MODE

typedef enum TY_TIME_SYNC_TYPE_LIST TY_TIME_SYNC_TYPE_LIST: type of time sync

typedef uint32_t TY_TIME_SYNC_TYPE

typedef uint32_t TY_E_VOLT_T

typedef uint32_t TY_E_DO_MODE

typedef uint32_t TY_E_DI_MODE

typedef uint32_t TY_E_DI_INT_ACTION

typedef struct TY_VERSION_INFO TY_VERSION_INFO

typedef struct TY_DEVICE_NET_INFO TY_DEVICE_NET_INFO: device network information

typedef struct TY_DEVICE_USB_INFO TY_DEVICE_USB_INFO

typedef struct TY_INTERFACE_INFO TY_INTERFACE_INFO

参见

TYGetInterfaceList

typedef struct TY_DEVICE_BASE_INFO TY_DEVICE_BASE_INFO

参见

TYGetDeviceList

typedef struct TY_FEATURE_INFO TY_FEATURE_INFO

typedef struct TY_INT_RANGE TY_INT_RANGE

typedef struct TY_FLOAT_RANGE TY_FLOAT_RANGE

float range data structure

参见

TYGetFloatRange

typedef struct TY_BYTEARRAY_ATTR TY_BYTEARRAY_ATTR

byte array data structure

参见

TYGetByteArray

typedef struct TY_ENUM_ENTRY TY_ENUM_ENTRY

enum feature entry information

参见

TYGetEnumEntryInfo

typedef struct TY_VECT_3F TY_VECT_3F

typedef struct TY_CAMERA_INTRINSIC TY_CAMERA_INTRINSIC

a 3x3 matrix

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

参见

TYGetStruct Usage:

TY_CAMERA_INTRINSIC intrinsic;
TYGetStruct(hDevice, some_compoent, TY_STRUCT_CAM_INTRINSIC, &intrinsic, sizeof(intrinsic));

typedef struct TY_CAMERA_EXTRINSIC TY_CAMERA_EXTRINSIC

a 4x4 matrix

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

参见

TYGetStruct Usage:

TY_CAMERA_EXTRINSIC extrinsic;
TYGetStruct(hDevice, some_compoent, TY_STRUCT_EXTRINSIC, &extrinsic, sizeof(extrinsic));

typedef struct TY_CAMERA_DISTORTION TY_CAMERA_DISTORTION

camera distortion parameters

参见

TYGetStruct Usage:

TY_CAMERA_DISTORTION distortion;
TYGetStruct(hDevice, some_compoent, TY_STRUCT_CAM_DISTORTION, &distortion, sizeof(distortion));

typedef struct TY_CAMERA_CALIB_INFO TY_CAMERA_CALIB_INFO

camera ‘s cailbration data

参见

TYGetStruct

typedef struct TY_TRIGGER_PARAM TY_TRIGGER_PARAM

typedef struct TY_TRIGGER_PARAM_EX TY_TRIGGER_PARAM_EX

typedef struct TY_TRIGGER_TIMER_LIST TY_TRIGGER_TIMER_LIST

typedef struct TY_TRIGGER_TIMER_PERIOD TY_TRIGGER_TIMER_PERIOD

typedef struct TY_AEC_ROI_PARAM TY_AEC_ROI_PARAM

typedef struct TY_CAMERA_STATISTICS TY_CAMERA_STATISTICS

typedef struct TY_IMU_DATA TY_IMU_DATA

typedef struct TY_ACC_BIAS TY_ACC_BIAS

a 3x3 matrix

.	.	.
BIASx	BIASy	BIASz

typedef struct TY_ACC_MISALIGNMENT TY_ACC_MISALIGNMENT

a 3x3 matrix

|.

|.|.|

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

typedef struct TY_ACC_SCALE TY_ACC_SCALE

a 3x3 matrix

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

typedef struct TY_GYRO_BIAS TY_GYRO_BIAS

a 3x3 matrix

.	.	.
BIASx	BIASy	BIASz

typedef struct TY_GYRO_MISALIGNMENT TY_GYRO_MISALIGNMENT

a 3x3 matrix

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

typedef struct TY_GYRO_SCALE TY_GYRO_SCALE

a 3x3 matrix

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

typedef struct TY_CAMERA_TO_IMU TY_CAMERA_TO_IMU

a 4x4 matrix

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

typedef struct TY_TOF_FREQ TY_TOF_FREQ

typedef enum TY_IMU_FPS_LIST TY_IMU_FPS_LIST

typedef struct TY_IMAGE_DATA TY_IMAGE_DATA

typedef struct TY_FRAME_DATA TY_FRAME_DATA

typedef struct TY_EVENT_INFO TY_EVENT_INFO

typedef struct TY_DO_WORKMODE TY_DO_WORKMODE

typedef struct TY_DI_WORKMODE TY_DI_WORKMODE

typedef void (*TY_EVENT_CALLBACK)(TY_EVENT_INFO*, void *userdata)

typedef void (*TY_IMU_CALLBACK)(TY_IMU_DATA*, void *userdata)

Enums

enum TY_STATUS_LIST

API call return status.

Values:

enumerator TY_STATUS_OK

enumerator TY_STATUS_ERROR

enumerator TY_STATUS_NOT_INITED

enumerator TY_STATUS_NOT_IMPLEMENTED

enumerator TY_STATUS_NOT_PERMITTED

enumerator TY_STATUS_DEVICE_ERROR

enumerator TY_STATUS_INVALID_PARAMETER

enumerator TY_STATUS_INVALID_HANDLE

enumerator TY_STATUS_INVALID_COMPONENT

enumerator TY_STATUS_INVALID_FEATURE

enumerator TY_STATUS_WRONG_TYPE

enumerator TY_STATUS_WRONG_SIZE

enumerator TY_STATUS_OUT_OF_MEMORY

enumerator TY_STATUS_OUT_OF_RANGE

enumerator TY_STATUS_TIMEOUT

enumerator TY_STATUS_WRONG_MODE

enumerator TY_STATUS_BUSY

enumerator TY_STATUS_IDLE

enumerator TY_STATUS_NO_DATA

enumerator TY_STATUS_NO_BUFFER

enumerator TY_STATUS_NULL_POINTER

enumerator TY_STATUS_READONLY_FEATURE

enumerator TY_STATUS_INVALID_DESCRIPTOR

enumerator TY_STATUS_INVALID_INTERFACE

enumerator TY_STATUS_FIRMWARE_ERROR

enumerator TY_STATUS_DEV_EPERM

enumerator TY_STATUS_DEV_EIO

enumerator TY_STATUS_DEV_ENOMEM

enumerator TY_STATUS_DEV_EBUSY

enumerator TY_STATUS_DEV_EINVAL

enum TY_FW_ERRORCODE_LIST

Values:

enumerator TY_FW_ERRORCODE_CAM0_NOT_DETECTED

enumerator TY_FW_ERRORCODE_CAM1_NOT_DETECTED

enumerator TY_FW_ERRORCODE_CAM2_NOT_DETECTED

enumerator TY_FW_ERRORCODE_POE_NOT_INIT

enumerator TY_FW_ERRORCODE_RECMAP_NOT_CORRECT

enumerator TY_FW_ERRORCODE_LOOKUPTABLE_NOT_CORRECT

enumerator TY_FW_ERRORCODE_DRV8899_NOT_INIT

enumerator TY_FW_ERRORCODE_CONFIG_NOT_FOUND

enumerator TY_FW_ERRORCODE_CONFIG_NOT_CORRECT

enumerator TY_FW_ERRORCODE_XML_NOT_FOUND

enumerator TY_FW_ERRORCODE_XML_NOT_CORRECT

enumerator TY_FW_ERRORCODE_XML_OVERRIDE_FAILED

enumerator TY_FW_ERRORCODE_CAM_INIT_FAILED

enumerator TY_FW_ERRORCODE_LASER_INIT_FAILED

enum TY_EVENT_LIST

Values:

enumerator TY_EVENT_DEVICE_OFFLINE

enumerator TY_EVENT_LICENSE_ERROR

enumerator TY_EVENT_FW_INIT_ERROR

enum TY_DEVICE_COMPONENT_LIST

@breif Device Component list A device contains several component.

Each component can be controlled by its own features, such as image width, exposure time, etc..

参见

To Know how to get feature information please refer to sample code DumpAllFeatures

Values:

enumerator TY_COMPONENT_DEVICE: Abstract component stands for whole device, always enabled.

enumerator TY_COMPONENT_DEPTH_CAM: Depth camera.

enumerator TY_COMPONENT_IR_CAM_LEFT: Left IR camera.

enumerator TY_COMPONENT_IR_CAM_RIGHT: Right IR camera.

enumerator TY_COMPONENT_RGB_CAM_LEFT: Left RGB camera.

enumerator TY_COMPONENT_RGB_CAM_RIGHT: Right RGB camera.

enumerator TY_COMPONENT_LASER: Laser.

enumerator TY_COMPONENT_IMU: Inertial Measurement Unit.

enumerator TY_COMPONENT_BRIGHT_HISTO: virtual component for brightness histogram of ir

enumerator TY_COMPONENT_STORAGE: virtual component for device storage

enumerator TY_COMPONENT_RGB_CAM: Some device has only one RGB camera, map it to left.

enum TY_FEATURE_TYPE_LIST

Feature Format Type definitions.

Values:

enumerator TY_FEATURE_INT

enumerator TY_FEATURE_FLOAT

enumerator TY_FEATURE_ENUM

enumerator TY_FEATURE_BOOL

enumerator TY_FEATURE_STRING

enumerator TY_FEATURE_BYTEARRAY

enumerator TY_FEATURE_STRUCT

enum TY_FEATURE_ID_LIST

feature for component definitions

Values:

enumerator TY_STRUCT_CAM_INTRINSIC: see TY_CAMERA_INTRINSIC

enumerator TY_STRUCT_EXTRINSIC_TO_DEPTH: extrinsic between depth cam and current component , see TY_CAMERA_EXTRINSIC

enumerator TY_STRUCT_EXTRINSIC_TO_IR_LEFT: extrinsic between left IR and current compoent, see TY_CAMERA_EXTRINSIC

enumerator TY_STRUCT_CAM_DISTORTION: see TY_CAMERA_DISTORTION

enumerator TY_STRUCT_CAM_CALIB_DATA: see TY_CAMERA_CALIB_INFO

enumerator TY_STRUCT_CAM_RECTIFIED_INTRI: the rectified intrinsic. see TY_CAMERA_INTRINSIC

enumerator TY_BYTEARRAY_CUSTOM_BLOCK: used for reading/writing custom block

enumerator TY_BYTEARRAY_ISP_BLOCK: used for reading/writing fpn block

enumerator TY_INT_PERSISTENT_IP

enumerator TY_INT_PERSISTENT_SUBMASK

enumerator TY_INT_PERSISTENT_GATEWAY

enumerator TY_BOOL_GVSP_RESEND

enumerator TY_INT_PACKET_DELAY: microseconds

enumerator TY_INT_ACCEPTABLE_PERCENT

enumerator TY_INT_NTP_SERVER_IP: Ntp server IP.

enumerator TY_INT_PACKET_SIZE

enumerator TY_INT_LINK_CMD_TIMEOUT: milliseconds

enumerator TY_STRUCT_CAM_STATISTICS: statistical information, see TY_CAMERA_STATISTICS

enumerator TY_INT_WIDTH_MAX

enumerator TY_INT_HEIGHT_MAX

enumerator TY_INT_OFFSET_X

enumerator TY_INT_OFFSET_Y

enumerator TY_INT_WIDTH: Image width.

enumerator TY_INT_HEIGHT: Image height.

enumerator TY_ENUM_IMAGE_MODE: Resolution-PixelFromat mode, see TY_IMAGE_MODE_LIST.

enumerator TY_FLOAT_SCALE_UNIT: scale unit depth image is uint16 pixel format with default millimeter unit ,for some device can output Sub-millimeter accuracy data the acutal depth (mm)= PixelValue * ScaleUnit

enumerator TY_ENUM_TRIGGER_POL: Trigger POL, see TY_TRIGGER_POL_LIST.

enumerator TY_INT_FRAME_PER_TRIGGER: Number of frames captured per trigger.

enumerator TY_STRUCT_TRIGGER_PARAM: param of trigger, see TY_TRIGGER_PARAM

enumerator TY_STRUCT_TRIGGER_PARAM_EX: param of trigger, see TY_TRIGGER_PARAM_EX

enumerator TY_STRUCT_TRIGGER_TIMER_LIST: param of trigger mode 20, see TY_TRIGGER_TIMER_LIST

enumerator TY_STRUCT_TRIGGER_TIMER_PERIOD: param of trigger mode 21, see TY_TRIGGER_TIMER_PERIOD

enumerator TY_BOOL_KEEP_ALIVE_ONOFF: Keep Alive switch.

enumerator TY_INT_KEEP_ALIVE_TIMEOUT: Keep Alive timeout.

enumerator TY_BOOL_CMOS_SYNC: Cmos sync switch.

enumerator TY_INT_TRIGGER_DELAY_US: Trigger delay time, in microseconds.

enumerator TY_BOOL_TRIGGER_OUT_IO: Trigger out IO.

enumerator TY_INT_TRIGGER_DURATION_US: Trigger duration time, in microseconds.

enumerator TY_ENUM_STREAM_ASYNC: stream async switch, see TY_STREAM_ASYNC_MODE

enumerator TY_INT_CAPTURE_TIME_US: capture time in multi-ir

enumerator TY_ENUM_TIME_SYNC_TYPE: see TY_TIME_SYNC_TYPE

enumerator TY_BOOL_TIME_SYNC_READY: time sync done status

enumerator TY_BOOL_FLASHLIGHT: flashlight on/off control

enumerator TY_INT_FLASHLIGHT_INTENSITY: flashlight intensity level [0, 63]

enumerator TY_STRUCT_DO0_WORKMODE: DO_0 workmode, see TY_DO_WORKMODE.

enumerator TY_STRUCT_DI0_WORKMODE: DI_0 workmode, see TY_DI_WORKMODE.

enumerator TY_STRUCT_DO1_WORKMODE: DO_1 workmode, see TY_DO_WORKMODE.

enumerator TY_STRUCT_DI1_WORKMODE: DI_1 workmode, see TY_DI_WORKMODE.

enumerator TY_STRUCT_DO2_WORKMODE: DO_2 workmode, see TY_DO_WORKMODE.

enumerator TY_STRUCT_DI2_WORKMODE: DI_2 workmode, see TY_DI_WORKMODE.

enumerator TY_BOOL_AUTO_EXPOSURE: Auto exposure switch.

enumerator TY_INT_EXPOSURE_TIME: Exposure time in percentage.

enumerator TY_BOOL_AUTO_GAIN: Auto gain switch.

enumerator TY_INT_GAIN: Sensor Gain.

enumerator TY_BOOL_AUTO_AWB: Auto white balance.

enumerator TY_STRUCT_AEC_ROI: region of aec statistics, see TY_AEC_ROI_PARAM

enumerator TY_INT_TOF_HDR_RATIO: tof sensor hdr ratio for depth

enumerator TY_INT_TOF_JITTER_THRESHOLD: tof jitter threshold for depth

enumerator TY_INT_LASER_POWER: Laser power level.

enumerator TY_BOOL_LASER_AUTO_CTRL: Laser auto ctrl.

enumerator TY_BOOL_UNDISTORTION: Output undistorted image.

enumerator TY_BOOL_BRIGHTNESS_HISTOGRAM: Output bright histogram.

enumerator TY_BOOL_DEPTH_POSTPROC: Do depth image postproc.

enumerator TY_INT_R_GAIN: Gain of R channel.

enumerator TY_INT_G_GAIN: Gain of G channel.

enumerator TY_INT_B_GAIN: Gain of B channel.

enumerator TY_INT_ANALOG_GAIN: Analog gain.

enumerator TY_BOOL_HDR: HDR func enable/disable.

enumerator TY_BYTEARRAY_HDR_PARAMETER: HDR parameters.

enumerator TY_BOOL_IMU_DATA_ONOFF: IMU Data Onoff.

enumerator TY_STRUCT_IMU_ACC_BIAS: IMU acc bias matrix, see TY_ACC_BIAS.

enumerator TY_STRUCT_IMU_ACC_MISALIGNMENT: IMU acc misalignment matrix, see TY_ACC_MISALIGNMENT.

enumerator TY_STRUCT_IMU_ACC_SCALE: IMU acc scale matrix, see TY_ACC_SCALE.

enumerator TY_STRUCT_IMU_GYRO_BIAS: IMU gyro bias matrix, see TY_GYRO_BIAS.

enumerator TY_STRUCT_IMU_GYRO_MISALIGNMENT: IMU gyro misalignment matrix, see TY_GYRO_MISALIGNMENT.

enumerator TY_STRUCT_IMU_GYRO_SCALE: IMU gyro scale matrix, see TY_GYRO_SCALE.

enumerator TY_STRUCT_IMU_CAM_TO_IMU: IMU camera to imu matrix, see TY_CAMERA_TO_IMU.

enumerator TY_ENUM_IMU_FPS: IMU fps, see TY_IMU_FPS_LIST.

enumerator TY_INT_SGBM_IMAGE_NUM: SGBM image channel num.

enumerator TY_INT_SGBM_DISPARITY_NUM: SGBM disparity num.

enumerator TY_INT_SGBM_DISPARITY_OFFSET: SGBM disparity offset.

enumerator TY_INT_SGBM_MATCH_WIN_HEIGHT: SGBM match window height.

enumerator TY_INT_SGBM_SEMI_PARAM_P1: SGBM semi global param p1.

enumerator TY_INT_SGBM_SEMI_PARAM_P2: SGBM semi global param p2.

enumerator TY_INT_SGBM_UNIQUE_FACTOR: SGBM uniqueness factor param.

enumerator TY_INT_SGBM_UNIQUE_ABSDIFF: SGBM uniqueness min absolute diff.

enumerator TY_INT_SGBM_COST_PARAM: SGBM cost param.

enumerator TY_BOOL_SGBM_HFILTER_HALF_WIN: SGBM enable half window size.

enumerator TY_INT_SGBM_MATCH_WIN_WIDTH: SGBM match window width.

enumerator TY_BOOL_SGBM_MEDFILTER: SGBM enable median filter.

enumerator TY_BOOL_SGBM_LRC: SGBM enable left right consist check.

enumerator TY_INT_SGBM_LRC_DIFF: SGBM max diff.

enumerator TY_INT_SGBM_MEDFILTER_THRESH: SGBM median filter thresh.

enumerator TY_INT_SGBM_SEMI_PARAM_P1_SCALE: SGBM semi global param p1 scale.

enumerator TY_ENUM_DEPTH_QUALITY: the quality of generated depth, see TY_DEPTH_QUALITY

enumerator TY_INT_FILTER_THRESHOLD: the threshold of the noise filter, 0 for disabled

enumerator TY_INT_TOF_CHANNEL: the frequency channel of tof

enumerator TY_INT_TOF_MODULATION_THRESHOLD: the threshold of the tof modulation

enumerator TY_STRUCT_TOF_FREQ: the frequency of tof, see TY_TOF_FREQ

enumerator TY_BOOL_TOF_ANTI_INTERFERENCE: cooperation if multi-device used

enum TY_DEPTH_QUALITY_LIST

Values:

enumerator TY_DEPTH_QUALITY_BASIC

enumerator TY_DEPTH_QUALITY_MEDIUM

enumerator TY_DEPTH_QUALITY_HIGH

enum TY_TRIGGER_POL_LIST

set external trigger signal edge

Values:

enumerator TY_TRIGGER_POL_FALLINGEDGE

enumerator TY_TRIGGER_POL_RISINGEDGE

enum TY_INTERFACE_TYPE_LIST

Interface type definition.

参见

TYGetInterfaceList

Values:

enumerator TY_INTERFACE_UNKNOWN

enumerator TY_INTERFACE_RAW

enumerator TY_INTERFACE_USB

enumerator TY_INTERFACE_ETHERNET

enumerator TY_INTERFACE_IEEE80211

enumerator TY_INTERFACE_ALL

enum TY_ACCESS_MODE_LIST

Indicate a feature is readable or writable.

参见

TYGetFeatureInfo

Values:

enumerator TY_ACCESS_READABLE

enumerator TY_ACCESS_WRITABLE

enum TY_STREAM_ASYNC_MODE_LIST

stream async mode

Values:

enumerator TY_STREAM_ASYNC_OFF

enumerator TY_STREAM_ASYNC_DEPTH

enumerator TY_STREAM_ASYNC_RGB

enumerator TY_STREAM_ASYNC_DEPTH_RGB

enumerator TY_STREAM_ASYNC_ALL

enum TY_PIXEL_BITS_LIST

Pixel size type definitions to define the pixel size in bits.

参见

TY_PIXEL_FORMAT_LIST

Values:

enumerator TY_PIXEL_8BIT

enumerator TY_PIXEL_16BIT

enumerator TY_PIXEL_24BIT

enumerator TY_PIXEL_32BIT

enumerator TY_PIXEL_10BIT

enumerator TY_PIXEL_12BIT

enumerator TY_PIXEL_14BIT

enumerator TY_PIXEL_48BIT

enumerator TY_PIXEL_64BIT

enum TY_PIXEL_FORMAT_LIST

pixel format definitions

Values:

enumerator TY_PIXEL_FORMAT_UNDEFINED

enumerator TY_PIXEL_FORMAT_MONO: 0x10000000

enumerator TY_PIXEL_FORMAT_BAYER8GB: 0x11000000

enumerator TY_PIXEL_FORMAT_BAYER8BG: 0x12000000

enumerator TY_PIXEL_FORMAT_BAYER8GR: 0x13000000

enumerator TY_PIXEL_FORMAT_BAYER8RG: 0x14000000

enumerator TY_PIXEL_FORMAT_BAYER8GRBG

enumerator TY_PIXEL_FORMAT_BAYER8RGGB

enumerator TY_PIXEL_FORMAT_BAYER8GBRG

enumerator TY_PIXEL_FORMAT_BAYER8BGGR

enumerator TY_PIXEL_FORMAT_CSI_MONO10: 0x50000000

enumerator TY_PIXEL_FORMAT_CSI_BAYER10GRBG: 0x51000000

enumerator TY_PIXEL_FORMAT_CSI_BAYER10RGGB: 0x52000000

enumerator TY_PIXEL_FORMAT_CSI_BAYER10GBRG: 0x53000000

enumerator TY_PIXEL_FORMAT_CSI_BAYER10BGGR: 0x54000000

enumerator TY_PIXEL_FORMAT_CSI_MONO12: 0x60000000

enumerator TY_PIXEL_FORMAT_CSI_BAYER12GRBG: 0x61000000

enumerator TY_PIXEL_FORMAT_CSI_BAYER12RGGB: 0x62000000

enumerator TY_PIXEL_FORMAT_CSI_BAYER12GBRG: 0x63000000

enumerator TY_PIXEL_FORMAT_CSI_BAYER12BGGR: 0x64000000

enumerator TY_PIXEL_FORMAT_DEPTH16: 0x20000000

enumerator TY_PIXEL_FORMAT_YVYU: 0x21000000, yvyu422

enumerator TY_PIXEL_FORMAT_YUYV: 0x22000000, yuyv422

enumerator TY_PIXEL_FORMAT_MONO16: 0x23000000,

enumerator TY_PIXEL_FORMAT_TOF_IR_MONO16: 0xa4000000,

enumerator TY_PIXEL_FORMAT_RGB: 0x30000000

enumerator TY_PIXEL_FORMAT_BGR: 0x31000000

enumerator TY_PIXEL_FORMAT_JPEG: 0x32000000

enumerator TY_PIXEL_FORMAT_MJPG: 0x33000000

enumerator TY_PIXEL_FORMAT_RGB48: 0x80000000

enumerator TY_PIXEL_FORMAT_BGR48: 0x81000000

enumerator TY_PIXEL_FORMAT_XYZ48: 0x82000000

enum TY_RESOLUTION_MODE_LIST

predefined resolution list

Values:

enumerator TY_RESOLUTION_MODE_160x100: 0x000a0078

enumerator TY_RESOLUTION_MODE_160x120: 0x000a0078

enumerator TY_RESOLUTION_MODE_240x320: 0x000f0140

enumerator TY_RESOLUTION_MODE_320x180: 0x001400b4

enumerator TY_RESOLUTION_MODE_320x200: 0x001400c8

enumerator TY_RESOLUTION_MODE_320x240: 0x001400f0

enumerator TY_RESOLUTION_MODE_480x640: 0x001e0280

enumerator TY_RESOLUTION_MODE_640x360: 0x00280168

enumerator TY_RESOLUTION_MODE_640x400: 0x00280190

enumerator TY_RESOLUTION_MODE_640x480: 0x002801e0

enumerator TY_RESOLUTION_MODE_960x1280: 0x003c0500

enumerator TY_RESOLUTION_MODE_1280x720: 0x005002d0

enumerator TY_RESOLUTION_MODE_1280x800: 0x00500320

enumerator TY_RESOLUTION_MODE_1280x960: 0x005003c0

enumerator TY_RESOLUTION_MODE_1920x1080: 0x00780438

enumerator TY_RESOLUTION_MODE_2560x1920: 0x00a00780

enumerator TY_RESOLUTION_MODE_2592x1944: 0x00a20798

enumerator TY_RESOLUTION_MODE_1920x1440: 0x007805a0

enumerator TY_RESOLUTION_MODE_240x96: 0x000f0060

enumerator TY_RESOLUTION_MODE_2048x1536: 0x00800600

enum TY_IMAGE_MODE_LIST

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.

Values:

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enumerator TY_DECLARE_IMAGE_MODE1

enum TY_TRIGGER_MODE_LIST

参见

refer to sample SimpleView_TriggerMode for detail usage

Values:

enumerator TY_TRIGGER_MODE_OFF: not trigger mode, continuous mode

enumerator TY_TRIGGER_MODE_SLAVE: slave mode, receive soft/hardware triggers

enumerator TY_TRIGGER_MODE_M_SIG: master mode 1, sending one trigger signal once received a soft/hardware trigger

enumerator TY_TRIGGER_MODE_M_PER: master mode 2, periodic sending one trigger signals, ‘fps’ param should be set

enumerator TY_TRIGGER_MODE_SIG_PASS

enumerator TY_TRIGGER_MODE_PER_PASS

enumerator TY_TRIGGER_MODE_TIMER_LIST

enumerator TY_TRIGGER_MODE_TIMER_PERIOD

enumerator TY_TRIGGER_MODE_PER_PASS2: trigger mode 30,Alternate output depth image/ir image

enumerator TY_TRIGGER_WORK_MODE31

enumerator TY_TRIGGER_MODE_SIG_LASER

enum TY_TIME_SYNC_TYPE_LIST

type of time sync

Values:

enumerator TY_TIME_SYNC_TYPE_NONE

enumerator TY_TIME_SYNC_TYPE_HOST

enumerator TY_TIME_SYNC_TYPE_NTP

enumerator TY_TIME_SYNC_TYPE_PTP

enumerator TY_TIME_SYNC_TYPE_CAN

enumerator TY_TIME_SYNC_TYPE_PTP_MASTER

enum TY_IMU_FPS_LIST

Values:

enumerator TY_IMU_FPS_100HZ

enumerator TY_IMU_FPS_200HZ

enumerator TY_IMU_FPS_400HZ

Functions

static inline bool TYIsNetworkInterface(int32_t interfaceType)

static inline void TYIntToIPv4(uint32_t addr, uint8_t out[4])

static inline uint32_t TYIPv4ToInt(uint8_t ip[4])

static inline TY_IMAGE_DATA TYInitImageData(size_t size, void *buffer, size_t width, size_t height): init a TY_IMAGE_DATA struct

static inline TY_FEATURE_TYPE TYFeatureType(TY_FEATURE_ID id): get feature format type from feature id

static inline int32_t TYPixelSize(TY_IMAGE_MODE imageMode): deprecated: get pixel size in byte, Invalid for 10/12/14bit mode

static inline int32_t TYBitsPerPixel(TY_IMAGE_MODE imageMode): get pixel size in bits

static inline int32_t TYPixelLineSize(int width, TY_IMAGE_MODE imageMode): get line size in bytes

static inline TY_IMAGE_MODE TYImageMode(TY_PIXEL_FORMAT pix, TY_RESOLUTION_MODE res): make a image mode from pixel format & resolution mode

static inline TY_RESOLUTION_MODE TYResolutionMode2(int width, int height): get a resoltuion mode from width & height

static inline TY_IMAGE_MODE TYImageMode2(TY_PIXEL_FORMAT pix, int width, int height): create a image mode from pixel format , width & height

static inline TY_PIXEL_FORMAT TYPixelFormat(TY_IMAGE_MODE imageMode): get pixel format from image mode

static inline TY_RESOLUTION_MODE TYResolutionMode(TY_IMAGE_MODE imageMode): get a resoltuion mode from image mode

static inline int32_t TYImageWidth(TY_IMAGE_MODE imageMode): get image width from image mode

static inline int32_t TYImageHeight(TY_IMAGE_MODE imageMode): get image height from image mode

TY_EXTC const TY_EXPORT char *TY_STDC TYErrorString (TY_STATUS errorID)

Get error information.

参数:: errorID – [in] Error id.
返回:: Error string.

static inline TY_STATUS TYInitLib(void)

Init this library.

We make this function to be static inline, because we do a version check here. Some user may use the mismatched header file and dynamic library, and that’s quite difficult to locate the error.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_ERROR – Has been inited.

TY_CAPI TYDeinitLib(void)

Deinit this library.

返回值:: TY_STATUS_OK – Succeed.

TY_CAPI TYLibVersion(TY_VERSION_INFO *version)

Get current library version.

参数:

version – [out] Version infomation to be filled.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NULL_POINTER – buffer is NULL.

TY_CAPI TYUpdateInterfaceList()

Update current interfaces.

call before TYGetInterfaceList

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.

TY_CAPI TYGetInterfaceNumber(uint32_t *pNumIfaces)

Get number of current interfaces.

参数:

pNumIfaces – [out] Number of interfaces.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_NULL_POINTER – deviceNumber is NULL.

TY_CAPI TYGetInterfaceList(TY_INTERFACE_INFO *pIfaceInfos, uint32_t bufferCount, uint32_t *filledCount)

Get interface info list.

参数:

pIfaceInfos – [out] Array of interface infos to be filled.
bufferCount – [in] Array size of interface infos.
filledCount – [out] Number of filled TY_INTERFACE_INFO.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_NULL_POINTER – pIfaceInfos or filledCount is NULL.

TY_CAPI TYHasInterface(const char *ifaceID, bool *value)

Check if has interface.

参见

TYGetInterfaceList

参数:

ifaceID – [in] Interface ID string, can be get from TY_INTERFACE_INFO.
value – [out] True if the interface exists.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_NULL_POINTER – ifaceID or outHandle is NULL.

TY_CAPI TYOpenInterface(const char *ifaceID, TY_INTERFACE_HANDLE *outHandle)

Open specified interface.

参见

TYGetInterfaceList

参数:

ifaceID – [in] Interface ID string, can be get from TY_INTERFACE_INFO.
outHandle – [out] Handle of opened interface.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_NULL_POINTER – ifaceID or outHandle is NULL.
TY_STATUS_INVALID_INTERFACE – Interface not found.

TY_CAPI TYCloseInterface(TY_INTERFACE_HANDLE ifaceHandle)

Close interface.

参数:

ifaceHandle – [in] Interface to be closed.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_INVALID_INTERFACE – Interface not found.

TY_CAPI TYUpdateDeviceList(TY_INTERFACE_HANDLE ifaceHandle)

Update current connected devices.

参数:

ifaceHandle – [in] Interface handle.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_INVALID_INTERFACE – Invalid interface handle.

TY_CAPI TYUpdateAllDeviceList()

Update current connected devices.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.

TY_CAPI TYGetDeviceNumber(TY_INTERFACE_HANDLE ifaceHandle, uint32_t *deviceNumber)

Get number of current connected devices.

参数:

ifaceHandle – [in] Interface handle.
deviceNumber – [out] Number of connected devices.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_INVALID_INTERFACE – Invalid interface handle.
TY_STATUS_NULL_POINTER – deviceNumber is NULL.

TY_CAPI TYGetDeviceList(TY_INTERFACE_HANDLE ifaceHandle, TY_DEVICE_BASE_INFO *deviceInfos, uint32_t bufferCount, uint32_t *filledDeviceCount)

Get device info list.

参数:

ifaceHandle – [in] Interface handle.
deviceInfos – [out] Device info array to be filled.
bufferCount – [in] Array size of deviceInfos.
filledDeviceCount – [out] Number of filled TY_DEVICE_BASE_INFO.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_INVALID_INTERFACE – Invalid interface handle.
TY_STATUS_NULL_POINTER – deviceInfos or filledDeviceCount is NULL.

TY_CAPI TYHasDevice(TY_INTERFACE_HANDLE ifaceHandle, const char *deviceID, bool *value)

Check whether the interface has the specified device.

参数:

ifaceHandle – [in] Interface handle.
deviceID – [in] Device ID string, can be get from TY_DEVICE_BASE_INFO.
value – [out] True if the device exists.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_INVALID_INTERFACE – Invalid interface handle.
TY_STATUS_NULL_POINTER – deviceID or value is NULL.

TY_CAPI TYOpenDevice(TY_INTERFACE_HANDLE ifaceHandle, const char *deviceID, TY_DEV_HANDLE *outDeviceHandle, TY_FW_ERRORCODE *outFwErrorcode = NULL)

Open device by device ID.

参数:

ifaceHandle – [in] Interface handle.
deviceID – [in] Device ID string, can be get from TY_DEVICE_BASE_INFO.
deviceHandle – [out] Handle of opened device. Valid only if TY_STATUS_OK or TY_FW_ERRORCODE returned.
outFwErrorcode – [out] Firmware errorcode. Valid only if TY_FW_ERRORCODE returned.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_INVALID_INTERFACE – Invalid interface handle.
TY_STATUS_NULL_POINTER – deviceID or deviceHandle is NULL.
TY_STATUS_INVALID_PARAMETER – Device not found.
TY_STATUS_BUSY – Device has been opened.
TY_STATUS_DEVICE_ERROR – Open device failed.

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.

参数:

ifaceHandle – [in] Interface handle.
IP – [in] Device IP.
deviceHandle – [out] Handle of opened device.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_INVALID_INTERFACE – Invalid interface handle.
TY_STATUS_NULL_POINTER – IP or deviceHandle is NULL.
TY_STATUS_INVALID_PARAMETER – Device not found.
TY_STATUS_BUSY – Device has been opened, may occupied somewhere else.
TY_STATUS_DEVICE_ERROR – Open device failed.

TY_CAPI TYGetDeviceInterface(TY_DEV_HANDLE hDevice, TY_INTERFACE_HANDLE *pIface)

Get interface handle by device handle.

参数:

hDevice – [in] Device handle.
pIface – [out] Interface handle.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_NULL_POINTER – pIface is NULL.

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 found.

参数:

ifaceHandle – [in] Interface handle.
MAC – [in] Device MAC, should be “xx:xx:xx:xx:xx:xx”.
newIP – [in] New IP.
newNetMask – [in] New subnet mask.
newGateway – [in] New gateway.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NOT_INITED – TYInitLib not called.
TY_STATUS_INVALID_INTERFACE – Invalid interface handle.
TY_STATUS_WRONG_TYPE – Wrong interface type, should be network.
TY_STATUS_NULL_POINTER – MAC or newIP/newNetMask/newGateway is NULL.
TY_STATUS_INVALID_PARAMETER – MAC is not valid.
TY_STATUS_TIMEOUT – No device found.
TY_STATUS_DEVICE_ERROR – Set new IP failed.

TY_CAPI TYCloseDevice(TY_DEV_HANDLE hDevice, bool reboot = false)

Close device by device handle.

参数:

hDevice – [in] Device handle.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_IDLE – Device has been closed.

TY_CAPI TYGetDeviceInfo(TY_DEV_HANDLE hDevice, TY_DEVICE_BASE_INFO *info)

Get base info of the open device.

参数:

hDevice – [in] Device handle.
info – [out] Base info out.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_NULL_POINTER – componentIDs is NULL.

TY_CAPI TYGetComponentIDs(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID *componentIDs)

Get all components IDs.

参见

TY_DEVICE_COMPONENT_LIST

参数:

hDevice – [in] Device handle.
componentIDs – [out] All component IDs this device has. (bit flag).

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_NULL_POINTER – componentIDs is NULL.

TY_CAPI TYGetEnabledComponents(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID *componentIDs)

Get all enabled components IDs.

参见

TY_DEVICE_COMPONENT_LIST

参数:

hDevice – [in] Device handle.
componentIDs – [out] Enabled component IDs.(bit flag)

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_NULL_POINTER – componentIDs is NULL.

TY_CAPI TYEnableComponents(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentIDs)

Enable components.

参数:

hDevice – [in] Device handle.
componentIDs – [in] Components to be enabled.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Some components specified by componentIDs are invalid.
TY_STATUS_BUSY – Device is capturing.

TY_CAPI TYDisableComponents(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentIDs)

Disable components.

参见

TY_DEVICE_COMPONENT_LIST

参数:

hDevice – [in] Device handle.
componentIDs – [in] Components to be disabled.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Some components specified by componentIDs are invalid.
TY_STATUS_BUSY – Device is capturing.

TY_CAPI TYGetFrameBufferSize(TY_DEV_HANDLE hDevice, uint32_t *bufferSize)

Get total buffer size of one frame in current configuration.

参数:

hDevice – [in] Device handle.
bufferSize – [out] Buffer size per frame.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_NULL_POINTER – bufferSize is NULL.

TY_CAPI TYEnqueueBuffer(TY_DEV_HANDLE hDevice, void *buffer, uint32_t bufferSize)

Enqueue a user allocated buffer.

参数:

hDevice – [in] Device handle.
buffer – [in] Buffer to be enqueued.
bufferSize – [in] Size of the input buffer.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_NULL_POINTER – buffer is NULL.
TY_STATUS_WRONG_SIZE – The input buffer is not large enough.

TY_CAPI TYClearBufferQueue(TY_DEV_HANDLE hDevice)

Clear the internal buffer queue, so that user can release all the buffer.

参数:

hDevice – [in] Device handle.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_BUSY – Device is capturing.

TY_CAPI TYStartCapture(TY_DEV_HANDLE hDevice)

Start capture.

参数:

hDevice – [in] Device handle.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – No components enabled.
TY_STATUS_BUSY – Device has been started.
TY_STATUS_DEVICE_ERROR – Start capture failed.

TY_CAPI TYStopCapture(TY_DEV_HANDLE hDevice)

Stop capture.

参数:

hDevice – [in] Device handle.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_IDLE – Device is not capturing.
TY_STATUS_DEVICE_ERROR – Stop capture failed.

TY_CAPI TYSendSoftTrigger(TY_DEV_HANDLE hDevice)

Send a software trigger to capture a frame when device works in trigger mode.

参数:

hDevice – [in] Device handle.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_FEATURE – Not support soft trigger.
TY_STATUS_IDLE – Device has not started capture.
TY_STATUS_WRONG_MODE – Not in trigger mode.

TY_CAPI TYRegisterEventCallback(TY_DEV_HANDLE hDevice, TY_EVENT_CALLBACK callback, void *userdata)

Register device status callback.

Register NULL to clean callback.

参数:

hDevice – [in] Device handle.
callback – [in] Callback function.
userdata – [in] User private data.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_BUSY – Device is capturing.

TY_CAPI TYRegisterImuCallback(TY_DEV_HANDLE hDevice, TY_IMU_CALLBACK callback, void *userdata)

Register imu callback.

Register NULL to clean callback.

参数:

hDevice – [in] Device handle.
callback – [in] Callback function.
userdata – [in] User private data.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_BUSY – Device is capturing.

TY_CAPI TYFetchFrame(TY_DEV_HANDLE hDevice, TY_FRAME_DATA *frame, int32_t timeout)

Fetch one frame.

参数:

hDevice – [in] Device handle.
frame – [out] Frame data to be filled.
timeout – [in] Timeout in milliseconds. <0 for infinite.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_NULL_POINTER – frame is NULL.
TY_STATUS_IDLE – Device capturing is not started.
TY_STATUS_WRONG_MODE – Callback has been registered, this function is disabled.
TY_STATUS_TIMEOUT – Timeout.

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.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
value – [out] Whether has feature.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_NULL_POINTER – value is NULL.

TY_CAPI TYGetFeatureInfo(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, TY_FEATURE_INFO *featureInfo)

Get feature info.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
featureInfo – [out] Feature info.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_NULL_POINTER – featureInfo is NULL.

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.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
intRange – [out] Integer range to be filled.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_INT.
TY_STATUS_NULL_POINTER – intRange is NULL.

TY_CAPI TYGetInt(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t *value)

Get value of integer feature.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
value – [out] Integer value.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_INT.
TY_STATUS_NULL_POINTER – value is NULL.

TY_CAPI TYSetInt(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, int32_t value)

Set value of integer feature.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
value – [in] Integer value.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_NOT_PERMITTED – The feature is not writable.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_INT.
TY_STATUS_OUT_OF_RANGE – value is out of range.
TY_STATUS_BUSY – Device is capturing, the feature is locked.

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.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
floatRange – [out] Float range to be filled.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_FLOAT.
TY_STATUS_NULL_POINTER – floatRange is NULL.

TY_CAPI TYGetFloat(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float *value)

Get value of float feature.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
value – [out] Float value.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_FLOAT.
TY_STATUS_NULL_POINTER – value is NULL.

TY_CAPI TYSetFloat(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, float value)

Set value of float feature.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
value – [in] Float value.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_NOT_PERMITTED – The feature is not writable.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_FLOAT.
TY_STATUS_OUT_OF_RANGE – value is out of range.
TY_STATUS_BUSY – Device is capturing, the feature is locked.

TY_CAPI TYGetEnumEntryCount(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t *entryCount)

Get number of enum entries.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
entryCount – [out] Entry count.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_ENUM.
TY_STATUS_NULL_POINTER – entryCount is NULL.

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.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
entries – [out] Output entries.
entryCount – [in] Array size of input parameter “entries”.
filledEntryCount – [out] Number of filled entries.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_ENUM.
TY_STATUS_NULL_POINTER – entries or filledEntryCount is NULL.

TY_CAPI TYGetEnum(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t *value)

Get current value of enum feature.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
value – [out] Enum value.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_ENUM.
TY_STATUS_NULL_POINTER – value is NULL.

TY_CAPI TYSetEnum(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, uint32_t value)

Set value of enum feature.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
value – [in] Enum value.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_NOT_PERMITTED – The feature is not writable.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_ENUM.
TY_STATUS_INVALID_PARAMETER – value is invalid.
TY_STATUS_BUSY – Device is capturing, the feature is locked.

TY_CAPI TYGetBool(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool *value)

Get value of bool feature.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
value – [out] Bool value.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_BOOL.
TY_STATUS_NULL_POINTER – value is NULL.

TY_CAPI TYSetBool(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, bool value)

Set value of bool feature.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
value – [in] Bool value.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_NOT_PERMITTED – The feature is not writable.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_BOOL.
TY_STATUS_BUSY – Device is capturing, the feature is locked.

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.

参见

TYGetString

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
size – [out] String length including ‘\0’.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_STRING.
TY_STATUS_NULL_POINTER – size is NULL.

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.

参见

TYGetStringLength

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
buffer – [out] String buffer.
bufferSize – [in] Size of buffer.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_STRING.
TY_STATUS_NULL_POINTER – buffer is NULL.

TY_CAPI TYSetString(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, const char *buffer)

Set value of string feature.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
buffer – [in] String buffer.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_NOT_PERMITTED – The feature is not writable.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_STRING.
TY_STATUS_NULL_POINTER – buffer is NULL.
TY_STATUS_OUT_OF_RANGE – Input string is too long.
TY_STATUS_BUSY – Device is capturing, the feature is locked.

TY_CAPI TYGetStruct(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void *pStruct, uint32_t structSize)

Get value of struct.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
pStruct – [out] Pointer of struct.
structSize – [in] Size of input buffer pStruct..

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_STRUCT.
TY_STATUS_NULL_POINTER – pStruct is NULL.
TY_STATUS_WRONG_SIZE – structSize incorrect.

TY_CAPI TYSetStruct(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, TY_FEATURE_ID featureID, void *pStruct, uint32_t structSize)

Set value of struct.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
pStruct – [in] Pointer of struct.
structSize – [in] Size of struct.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_NOT_PERMITTED – The feature is not writable.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_STRUCT.
TY_STATUS_NULL_POINTER – pStruct is NULL.
TY_STATUS_WRONG_SIZE – structSize incorrect.
TY_STATUS_BUSY – Device is capturing, the feature is locked.

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 .

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
pSize – [out] size of specified byte array zone.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_BYTEARRAY.
TY_STATUS_NULL_POINTER – pSize is NULL.

TY_CAPI TYGetDeviceFeatureNumber(TY_DEV_HANDLE hDevice, TY_COMPONENT_ID componentID, uint32_t *size)

Get the size of device features .

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
pSize – [out] size of all feature cnt.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_NULL_POINTER – pSize is NULL.

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.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureInfo – [out] Output feature info.
entryCount – [in] Array size of input parameter “featureInfo”.
filledEntryCount – [out] Number of filled featureInfo.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_NULL_POINTER – featureInfo or filledEntryCount is NULL.

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.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
pbuffer – [out] byte buffer.
bufferSize – [in] Size of buffer.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_BYTEARRAY.
TY_STATUS_NULL_POINTER – pbuffer is NULL.
TY_STATUS_WRONG_SIZE – bufferSize incorrect.

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.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
pbuffer – [out] byte buffer.
bufferSize – [in] Size of buffer.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_NOT_PERMITTED – The feature is not writable.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_BYTEARRAY.
TY_STATUS_NULL_POINTER – pbuffer is NULL.
TY_STATUS_WRONG_SIZE – bufferSize incorrect.
TY_STATUS_BUSY – Device is capturing, the feature is locked.

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

Write byte array to device.

参数:

hDevice – [in] Device handle.
componentID – [in] Component ID.
featureID – [in] Feature ID.
pAttr – [out] byte array attribute to be filled.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_INVALID_HANDLE – Invalid device handle.
TY_STATUS_INVALID_COMPONENT – Invalid component ID.
TY_STATUS_INVALID_FEATURE – Invalid feature ID.
TY_STATUS_NOT_PERMITTED – The feature is not writable.
TY_STATUS_WRONG_TYPE – The feature’s type is not TY_FEATURE_BYTEARRAY.
TY_STATUS_NULL_POINTER – pbuffer is NULL.

TY_CAPI _TYInitLib(void)

Variables

typedef enum

typedef TY_DO_5V = 1

typedef TY_DO_12V = 2

typedef TY_E_VOLT_T_LIST

typedef TY_DO_HIGH = 1

typedef TY_DO_PWM = 2

typedef TY_DO_CAM_TRIG = 3

typedef TY_E_DO_MODE_LIST

typedef TY_DI_NE_INT = 1

typedef TY_DI_PE_INT = 2

typedef TY_E_DI_MODE_LIST

typedef TY_DI_INT_TRIG_CAP = 1

typedef TY_DI_INT_EVENT = 2

typedef TY_E_DI_INT_ACTION_LIST

struct TY_VERSION_INFO

#include <TYApi.h>

Public Members

int32_t major

int32_t minor

int32_t patch

int32_t reserved

struct TY_DEVICE_NET_INFO

#include <TYApi.h>

device network information

Public Members

char mac[32]

char ip[32]

char netmask[32]

char gateway[32]

char broadcast[32]

char reserved[96]

struct TY_DEVICE_USB_INFO

#include <TYApi.h>

Public Members

int bus

int addr

char reserved[248]

struct TY_INTERFACE_INFO

#include <TYApi.h>

参见

TYGetInterfaceList

Public Members

char name[32]

char id[32]

TY_INTERFACE_TYPE type

char reserved[4]

TY_DEVICE_NET_INFO netInfo

struct TY_DEVICE_BASE_INFO

#include <TYApi.h>

参见

TYGetDeviceList

Public Members

TY_INTERFACE_INFO iface

char id[32]: device serial number

char vendorName[32]

char userDefinedName[32]

char modelName[32]: device model name

TY_VERSION_INFO hardwareVersion: deprecated

TY_VERSION_INFO firmwareVersion: deprecated

TY_DEVICE_NET_INFO netInfo

TY_DEVICE_USB_INFO usbInfo

union TY_DEVICE_BASE_INFO::[anonymous] [anonymous]

char buildHash[256]

char configVersion[256]

char reserved[256]

struct TY_FEATURE_INFO

#include <TYApi.h>

Public Members

bool isValid: true if feature exists, false otherwise

TY_ACCESS_MODE accessMode: feature access privilege

bool writableAtRun: feature can be written while capturing

char reserved0[1]

TY_COMPONENT_ID componentID: owner of this feature

TY_FEATURE_ID featureID: feature unique id

char name[32]: describe string

TY_COMPONENT_ID bindComponentID: component ID current feature bind to

TY_FEATURE_ID bindFeatureID: feature ID current feature bind to

char reserved[252]

struct TY_INT_RANGE

#include <TYApi.h>

Public Members

int32_t min

int32_t max

int32_t inc: increaing step

int32_t reserved[1]

struct TY_FLOAT_RANGE

#include <TYApi.h>

float range data structure

参见

TYGetFloatRange

Public Members

float min

float max

float inc: increaing step

float reserved[1]

struct TY_BYTEARRAY_ATTR

#include <TYApi.h>

byte array data structure

参见

TYGetByteArray

Public Members

int32_t size: Bytes array size in bytes.

int32_t unit_size: unit size in bytes for special parse

int32_t valid_size: valid size in bytes in case has reserved member, Must be multiple of unit_size, mem_length = valid_size/unit_size

struct TY_ENUM_ENTRY

#include <TYApi.h>

enum feature entry information

参见

TYGetEnumEntryInfo

Public Members

char description[64]

uint32_t value

uint32_t reserved[3]

struct TY_VECT_3F

#include <TYApi.h>

Public Members

float x

float y

float z

struct TY_CAMERA_INTRINSIC

#include <TYApi.h>

a 3x3 matrix

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

参见

TYGetStruct Usage:

TY_CAMERA_INTRINSIC intrinsic;
TYGetStruct(hDevice, some_compoent, TY_STRUCT_CAM_INTRINSIC, &intrinsic, sizeof(intrinsic));

Public Members

float data[3 * 3]

struct TY_CAMERA_EXTRINSIC

#include <TYApi.h>

a 4x4 matrix

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

参见

TYGetStruct Usage:

TY_CAMERA_EXTRINSIC extrinsic;
TYGetStruct(hDevice, some_compoent, TY_STRUCT_EXTRINSIC, &extrinsic, sizeof(extrinsic));

Public Members

float data[4 * 4]

struct TY_CAMERA_DISTORTION

#include <TYApi.h>

camera distortion parameters

参见

TYGetStruct Usage:

TY_CAMERA_DISTORTION distortion;
TYGetStruct(hDevice, some_compoent, TY_STRUCT_CAM_DISTORTION, &distortion, sizeof(distortion));

Public Members

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

struct TY_CAMERA_CALIB_INFO

#include <TYApi.h>

camera ‘s cailbration data

参见

TYGetStruct

Public Members

int32_t intrinsicWidth

int32_t intrinsicHeight

TY_CAMERA_INTRINSIC intrinsic

TY_CAMERA_EXTRINSIC extrinsic

TY_CAMERA_DISTORTION distortion

struct TY_TRIGGER_PARAM

#include <TYApi.h>

Public Members

TY_TRIGGER_MODE mode

int8_t fps

int8_t rsvd

struct TY_TRIGGER_PARAM_EX

#include <TYApi.h>

Public Members

TY_TRIGGER_MODE mode

int8_t fps

int8_t duty

int32_t laser_stream

int32_t led_stream

int32_t led_expo

int32_t led_gain

int32_t ir_gain[2]

int32_t rsvd[32]

union TY_TRIGGER_PARAM_EX::[anonymous] [anonymous]

struct TY_TRIGGER_TIMER_LIST

#include <TYApi.h>

Public Members

uint64_t start_time_us

uint32_t offset_us_count

uint32_t offset_us_list[50]

struct TY_TRIGGER_TIMER_PERIOD

#include <TYApi.h>

Public Members

uint64_t start_time_us

uint32_t trigger_count

uint32_t period_us

struct TY_AEC_ROI_PARAM

#include <TYApi.h>

Public Members

uint32_t x

uint32_t y

uint32_t w

uint32_t h

struct TY_CAMERA_STATISTICS

#include <TYApi.h>

Public Members

uint64_t packetReceived

uint64_t packetLost

uint64_t imageOutputed

uint64_t imageDropped

uint8_t rsvd[1024]

struct TY_IMU_DATA

#include <TYApi.h>

Public Members

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]

struct TY_ACC_BIAS

#include <TYApi.h>

a 3x3 matrix

.	.	.
BIASx	BIASy	BIASz

Public Members

float data[3]

struct TY_ACC_MISALIGNMENT

#include <TYApi.h>

a 3x3 matrix

|.

|.|.|

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

Public Members

float data[3 * 3]

struct TY_ACC_SCALE

#include <TYApi.h>

a 3x3 matrix

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

Public Members

float data[3 * 3]

struct TY_GYRO_BIAS

#include <TYApi.h>

a 3x3 matrix

.	.	.
BIASx	BIASy	BIASz

Public Members

float data[3]

struct TY_GYRO_MISALIGNMENT

#include <TYApi.h>

a 3x3 matrix

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

Public Members

float data[3 * 3]

struct TY_GYRO_SCALE

#include <TYApi.h>

a 3x3 matrix

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

Public Members

float data[3 * 3]

struct TY_CAMERA_TO_IMU

#include <TYApi.h>

a 4x4 matrix

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

Public Members

float data[4 * 4]

struct TY_TOF_FREQ

#include <TYApi.h>

Public Members

uint32_t freq1

uint32_t freq2

struct TY_IMAGE_DATA

#include <TYApi.h>

Public Members

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.

struct TY_FRAME_DATA

#include <TYApi.h>

Public Members

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.

struct TY_EVENT_INFO

#include <TYApi.h>

Public Members

TY_EVENT eventId

char message[124]

struct TY_DO_WORKMODE

#include <TYApi.h>

Public Members

TY_E_DO_MODE mode

TY_E_VOLT_T volt

uint32_t freq

uint32_t duty

uint32_t mode_supported

uint32_t volt_supported

uint32_t reserved[3]

struct TY_DI_WORKMODE

#include <TYApi.h>

Public Members

TY_E_DI_MODE mode

TY_E_DI_INT_ACTION int_act

uint32_t mode_supported

uint32_t int_act_supported

uint32_t status

uint32_t reserved[3]

API for coodinate mapping functions

Coordinate Conversion API.

备注

Considering performance, we leave the responsibility of parameters check to users.

Defines

TYMAP_CHECKRET(f, bufToFree)

Typedefs

typedef struct TY_PIXEL_DESC TY_PIXEL_DESC

typedef struct TY_PIXEL_COLOR_DESC TY_PIXEL_COLOR_DESC

Functions

TY_CAPI TYInvertExtrinsic(const TY_CAMERA_EXTRINSIC *orgExtrinsic, TY_CAMERA_EXTRINSIC *invExtrinsic)

Calculate 4x4 extrinsic matrix’s inverse matrix.

参数:

orgExtrinsic – [in] Input extrinsic matrix.
invExtrinsic – [out] Inverse matrix.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_ERROR – Calculation failed.

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.

参数:

src_calib – [in] Depth image’s calibration data.
depthW – [in] Width of depth image.
depthH – [in] Height of depth image.
depthPixels – [in] Pixels on depth image.
count – [in] Number of depth pixels.
point3d – [out] Output point3D.

返回值:

TY_STATUS_OK – Succeed.

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, float f_scale_unit = 1.0f)

Map 3D points to pixels on depth image.

Reverse operation of TYMapDepthToPoint3d.

参数:

dst_calib – [in] Target depth image’s calibration data.
point3d – [in] Input 3D points.
count – [in] Number of points.
depthW – [in] Width of target depth image.
depthH – [in] Height of target depth image.
depth – [out] Output depth pixels.

返回值:

TY_STATUS_OK – Succeed.

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).

参数:

src_calib – [in] Depth image’s calibration data.
depthW – [in] Width of depth image.
depthH – [in] Height of depth image.
depth – [in] Depth image.
point3d – [out] Output point3D image.

返回值:

TY_STATUS_OK – Succeed.

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, float f_target_scale = 1.0f)

Map 3D points to depth image.

(NAN, NAN, NAN) will be skipped.

参数:

dst_calib – [in] Target depth image’s calibration data.
point3d – [in] Input 3D points.
count – [in] Number of points.
depthW – [in] Width of target depth image.
depthH – [in] Height of target depth image.
depth – [inout] Depth image buffer.

返回值:

TY_STATUS_OK – Succeed.

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.

参数:

extrinsic – [in] Extrinsic matrix.
point3dFrom – [in] Source 3D points.
count – [in] Number of source 3D points.
point3dTo – [out] Target 3D points.

返回值:

TY_STATUS_OK – Succeed.

static inline TY_STATUS TYMapDepthToColorCoordinate(const TY_CAMERA_CALIB_INFO *depth_calib, uint32_t depthW, uint32_t depthH, const TY_PIXEL_DESC *depth, uint32_t count, const TY_CAMERA_CALIB_INFO *color_calib, uint32_t mappedW, uint32_t mappedH, TY_PIXEL_DESC *mappedDepth, float f_scale_unit = 1.0f)

Map depth pixels to color coordinate pixels.

参数:

depth_calib – [in] Depth image’s calibration data.
depthW – [in] Width of current depth image.
depthH – [in] Height of current depth image.
depth – [in] Depth image pixels.
count – [in] Number of depth image pixels.
color_calib – [in] Color image’s calibration data.
mappedW – [in] Width of target depth image.
mappedH – [in] Height of target depth image.
mappedDepth – [out] Output pixels.

返回值:

TY_STATUS_OK – Succeed.

static inline TY_STATUS TYMapDepthImageToColorCoordinate(const TY_CAMERA_CALIB_INFO *depth_calib, uint32_t depthW, uint32_t depthH, const uint16_t *depth, const TY_CAMERA_CALIB_INFO *color_calib, uint32_t mappedW, uint32_t mappedH, uint16_t *mappedDepth, float f_scale_unit = 1.0f)

Map original depth image to color coordinate depth image.

参数:

depth_calib – [in] Depth image’s calibration data.
depthW – [in] Width of current depth image.
depthH – [in] Height of current depth image.
depth – [in] Depth image.
color_calib – [in] Color image’s calibration data.
mappedW – [in] Width of target depth image.
mappedH – [in] Height of target depth image.
mappedDepth – [out] Output pixels.

返回值:

TY_STATUS_OK – Succeed.

static inline TY_STATUS TYCreateDepthToColorCoordinateLookupTable(const TY_CAMERA_CALIB_INFO *depth_calib, uint32_t depthW, uint32_t depthH, const uint16_t *depth, const TY_CAMERA_CALIB_INFO *color_calib, uint32_t mappedW, uint32_t mappedH, TY_PIXEL_DESC *lut, float f_scale_unit = 1.0f)

Create depth image to color coordinate lookup table.

参数:

depth_calib – [in] Depth image’s calibration data.
depthW – [in] Width of current depth image.
depthH – [in] Height of current depth image.
depth – [in] Depth image.
color_calib – [in] Color image’s calibration data.
mappedW – [in] Width of target depth image.
mappedH – [in] Height of target depth image.
lut – [out] Output lookup table.

返回值:

TY_STATUS_OK – Succeed.

static inline TY_STATUS TYMapRGBPixelsToDepthCoordinate(const TY_CAMERA_CALIB_INFO *depth_calib, uint32_t depthW, uint32_t depthH, const uint16_t *depth, const TY_CAMERA_CALIB_INFO *color_calib, uint32_t rgbW, uint32_t rgbH, TY_PIXEL_COLOR_DESC *src, uint32_t cnt, uint32_t min_distance, uint32_t max_distance, TY_PIXEL_COLOR_DESC *dst, float f_scale_unit = 1.0f)

Map original RGB pixels to depth coordinate.

参数:

depth_calib – [in] Depth image’s calibration data.
depthW – [in] Width of current depth image.
depthH – [in] Height of current depth image.
depth – [in] Current depth image.
color_calib – [in] Color image’s calibration data.
rgbW – [in] Width of RGB image.
rgbH – [in] Height of RGB image.
src – [in] Input RGB pixels info.
cnt – [in] Input src RGB pixels cnt
min_distance – [in] The min distance(mm), which is generally set to the minimum measured distance of the current camera
max_distance – [in] The longest distance(mm), which is generally set to the longest measuring distance of the current camera
dst – [out] Output RGB pixels info.

返回值:

TY_STATUS_OK – Succeed.

static inline TY_STATUS TYMapRGBImageToDepthCoordinate(const TY_CAMERA_CALIB_INFO *depth_calib, uint32_t depthW, uint32_t depthH, const uint16_t *depth, const TY_CAMERA_CALIB_INFO *color_calib, uint32_t rgbW, uint32_t rgbH, const uint8_t *inRgb, uint8_t *mappedRgb, float f_scale_unit = 1.0f)

Map original RGB image to depth coordinate RGB image.

参数:

depth_calib – [in] Depth image’s calibration data.
depthW – [in] Width of current depth image.
depthH – [in] Height of current depth image.
depth – [in] Current depth image.
color_calib – [in] Color image’s calibration data.
rgbW – [in] Width of RGB image.
rgbH – [in] Height of RGB image.
inRgb – [in] Current RGB image.
mappedRgb – [out] Output RGB image.

返回值:

TY_STATUS_OK – Succeed.

static inline TY_STATUS TYMapRGB48ImageToDepthCoordinate(const TY_CAMERA_CALIB_INFO *depth_calib, uint32_t depthW, uint32_t depthH, const uint16_t *depth, const TY_CAMERA_CALIB_INFO *color_calib, uint32_t rgbW, uint32_t rgbH, const uint16_t *inRgb, uint16_t *mappedRgb, float f_scale_unit = 1.0f)

Map original RGB48 image to depth coordinate RGB image.

参数:

depth_calib – [in] Depth image’s calibration data.
depthW – [in] Width of current depth image.
depthH – [in] Height of current depth image.
depth – [in] Current depth image.
color_calib – [in] Color image’s calibration data.
rgbW – [in] Width of RGB48 image.
rgbH – [in] Height of RGB48 image.
inRgb – [in] Current RGB48 image.
mappedRgb – [out] Output RGB48 image.

返回值:

TY_STATUS_OK – Succeed.

static inline TY_STATUS TYMapMono16ImageToDepthCoordinate(const TY_CAMERA_CALIB_INFO *depth_calib, uint32_t depthW, uint32_t depthH, const uint16_t *depth, const TY_CAMERA_CALIB_INFO *color_calib, uint32_t rgbW, uint32_t rgbH, const uint16_t *gray, uint16_t *mappedGray, float f_scale_unit = 1.0f)

Map original MONO16 image to depth coordinate MONO16 image.

参数:

depth_calib – [in] Depth image’s calibration data.
depthW – [in] Width of current depth image.
depthH – [in] Height of current depth image.
depth – [in] Current depth image.
color_calib – [in] Color image’s calibration data.
rgbW – [in] Width of MONO16 image.
rgbH – [in] Height of MONO16 image.
gray – [in] Current MONO16 image.
mappedGray – [out] Output MONO16 image.

返回值:

TY_STATUS_OK – Succeed.

static inline TY_STATUS TYMapMono8ImageToDepthCoordinate(const TY_CAMERA_CALIB_INFO *depth_calib, uint32_t depthW, uint32_t depthH, const uint16_t *depth, const TY_CAMERA_CALIB_INFO *color_calib, uint32_t monoW, uint32_t monoH, const uint8_t *inMono, uint8_t *mappedMono, float f_scale_unit = 1.0f)

Map original MONO8 image to depth coordinate MONO8 image.

参数:

depth_calib – [in] Depth image’s calibration data.
depthW – [in] Width of current depth image.
depthH – [in] Height of current depth image.
depth – [in] Current depth image.
color_calib – [in] Color image’s calibration data.
monoW – [in] Width of MONO8 image.
monoH – [in] Height of MONO8 image.
inMono – [in] Current MONO8 image.
mappedMono – [out] Output MONO8 image.

返回值:

TY_STATUS_OK – Succeed.

struct TY_PIXEL_DESC

#include <TYCoordinateMapper.h>

Public Members

int16_t x

int16_t y

uint16_t depth

uint16_t rsvd

struct TY_PIXEL_COLOR_DESC

#include <TYCoordinateMapper.h>

Public Members

int16_t x

int16_t y

uint8_t bgr_ch1

uint8_t bgr_ch2

uint8_t bgr_ch3

uint8_t rsvd

API for Depth and IR image post processing

@breif Image post-process API

Defines

DepthSpeckleFilterParameters_Initializer

DepthEnhenceParameters_Initializer

Functions

TY_CAPI TYImageProcesAcceEnable(bool en)

Image processing acceleration switch.

参数:: en – [in] Enable image process acceleration switch

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.

参数:

srcCalibInfo – [in] Image calibration data.
srcImage – [in] Source image.
cameraNewIntrinsic – [in] Expected new image intrinsic, will use srcCalibInfo for new image intrinsic if set to NULL.
dstImage – [out] Output image.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NULL_POINTER – Any srcCalibInfo, srcImage, dstImage, srcImage->buffer, dstImage->buffer is NULL.
TY_STATUS_INVALID_PARAMETER – Invalid srcImage->width, srcImage->height, dstImage->width, dstImage->height or unsupported pixel format.

TY_CAPI TYDepthSpeckleFilter(TY_IMAGE_DATA *depthImage, const DepthSpeckleFilterParameters *param)

Remove speckles on depth image.

参数:

depthImage – [inout] Depth image to be processed.
param – [in] Algorithm parameters.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NULL_POINTER – Any depth, param or depth->buffer is NULL.
TY_STATUS_INVALID_PARAMETER – param->max_speckle_size <= 0 or param->max_speckle_diff <= 0

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.

参数:

depthImage – [in] Pointer to depth image array.
imageNum – [in] Depth image array size.
guide – [inout] Guide image.
output – [out] Output depth image.
param – [in] Algorithm parameters.

返回值:

TY_STATUS_OK – Succeed.
TY_STATUS_NULL_POINTER – Any depthImage, param, output or output->buffer is NULL.
TY_STATUS_INVALID_PARAMETER – imageNum >= 11 or imageNum <= 0, or any image invalid
TY_STATUS_OUT_OF_MEMORY – Output image not suitable.

struct DepthSpeckleFilterParameters

#include <TYImageProc.h>

Public Members

int max_speckle_size

int max_speckle_diff

struct DepthEnhenceParameters

#include <TYImageProc.h>

Public Members

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

API for Color image post processing

@breif this file Include interface declare for raw color image (bayer format) process functions

Defines

TYISP_CAPI

Typedefs

typedef void *TY_ISP_HANDLE

Enums

enum TY_ISP_FEATURE_ID

Values:

enumerator TY_ISP_FEATURE_CAM_MODEL

enumerator TY_ISP_FEATURE_CAM_DEV_HANDLE: device handle for device control

enumerator TY_ISP_FEATURE_CAM_DEV_COMPONENT: the component to control

enumerator TY_ISP_FEATURE_IMAGE_SIZE: image size width&height

enumerator TY_ISP_FEATURE_WHITEBALANCE_GAIN

enumerator TY_ISP_FEATURE_ENABLE_AUTO_WHITEBALANCE

enumerator TY_ISP_FEATURE_SHADING

enumerator TY_ISP_FEATURE_SHADING_CENTER

enumerator TY_ISP_FEATURE_BLACK_LEVEL: global black level

enumerator TY_ISP_FEATURE_BLACK_LEVEL_COLUMN: to set different black level for each image column

enumerator TY_ISP_FEATURE_BLACK_LEVEL_GAIN: global pixel gain

enumerator TY_ISP_FEATURE_BLACK_LEVEL_GAIN_COLUMN: to set different gain for each image column

enumerator TY_ISP_FEATURE_BAYER_PATTERN

enumerator TY_ISP_FEATURE_DEMOSAIC_METHOD

enumerator TY_ISP_FEATURE_GAMMA

enumerator TY_ISP_FEATURE_DEFECT_PIXEL_LIST

enumerator TY_ISP_FEATURE_CCM

enumerator TY_ISP_FEATURE_CCM_ENABLE: ENABLE CCM.

enumerator TY_ISP_FEATURE_BRIGHT

enumerator TY_ISP_FEATURE_CONTRAST

enumerator TY_ISP_FEATURE_AUTOBRIGHT

enumerator TY_ISP_FEATURE_INPUT_RESAMPLE_SCALE

enumerator TY_ISP_FEATURE_ENABLE_AUTO_EXPOSURE_GAIN

enumerator TY_ISP_FEATURE_AUTO_EXPOSURE_RANGE: exposure range ,default no limit

enumerator TY_ISP_FEATURE_AUTO_GAIN_RANGE: gain range ,default no limit

enumerator TY_ISP_FEATURE_AUTO_EXPOSURE_UPDATE_INTERVAL: update device exposure interval , default 5 frame

enumerator TY_ISP_FEATURE_DEBUG_LOG: display detail log information

enum TY_ISP_BAYER_PATTERN

Values:

enumerator TY_ISP_BAYER_GB

enumerator TY_ISP_BAYER_BG

enumerator TY_ISP_BAYER_RG

enumerator TY_ISP_BAYER_GR

enumerator TY_ISP_BAYER_AUTO

enum TY_DEMOSAIC_METHOD

Values:

enumerator TY_DEMOSAIC_METHOD_SIMPLE

enumerator TY_DEMOSAIC_METHOD_BILINEAR

enumerator TY_DEMOSAIC_METHOD_HQLINEAR

enumerator TY_DEMOSAIC_METHOD_EDGESENSE

Functions

TYISP_CAPI TYISPCreate(TY_ISP_HANDLE *handle)

TYISP_CAPI TYISPRelease(TY_ISP_HANDLE *handle)

TYISP_CAPI TYISPLoadConfig(TY_ISP_HANDLE handle, const uint8_t *config, uint32_t config_size)

TYISP_CAPI TYISPUpdateDevice(TY_ISP_HANDLE handle): @breif called by main thread to update & control device status for ISP

TYISP_CAPI TYISPSetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, const uint8_t *data, int32_t size)

TYISP_CAPI TYISPGetFeature(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, uint8_t *data_buff, int32_t buff_size)

TYISP_CAPI TYISPGetFeatureSize(TY_ISP_HANDLE handle, TY_ISP_FEATURE_ID feature_id, int32_t *size)

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)

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): @breif convert bayer raw image to rgb image,output buffer is allocated by invoker

struct TY_ISP_FEATURE_INFO

#include <TyIsp.h>

Public Members

TY_ISP_FEATURE_ID id

int32_t size

const char *name

const char *value_type

TY_ACCESS_MODE mode