Version: 21 Aug 2024

ml_depth_camera.h

Classes

	Name
struct	MLDepthCameraStreamConfig Structure to encapsulate the camera config for a specific stream.
struct	MLDepthCameraSettings Structure to encapsulate the camera settings.
struct	MLDepthCameraIntrinsics Depth camera intrinsic parameters.
struct	MLDepthCameraFrameBuffer Structure to encapsulate per plane info for each camera frame.
struct	MLDepthCameraFrame Structure to encapsulate output data for each camera sensor.
struct	MLDepthCameraData Structure to encapsulate output data for each camera stream.
struct	MLDepthCameraStreamCapability Structure to encapsulate a possible configuration for a single stream. Can be used to understand possible values for a specific #stream_configs element in MLDepthCameraSettings.
struct	MLDepthCameraCapability Structure to encapsulate a possible set of streams configuration. Such set describes a possible way of setting #stream_configs in MLDepthCameraSettings and may hold multiple MLDepthCameraStreamCapability for different streams.
struct	MLDepthCameraCapabilityList Structure to encapsulate a list of possible stream configurations.
struct	MLDepthCameraCapabilityFilter Structure to encapsulate camera capabilities filtering.

Types

	Name
typedef struct MLDepthCameraStreamConfig	MLDepthCameraStreamConfig Structure to encapsulate the camera config for a specific stream.
typedef struct MLDepthCameraSettings	MLDepthCameraSettings Structure to encapsulate the camera settings.
typedef struct MLDepthCameraIntrinsics	MLDepthCameraIntrinsics Depth camera intrinsic parameters.
typedef struct MLDepthCameraFrameBuffer	MLDepthCameraFrameBuffer Structure to encapsulate per plane info for each camera frame.
typedef MLDepthCameraFrameBuffer	MLDepthCameraDepthImage Depth image.
typedef MLDepthCameraFrameBuffer	MLDepthCameraConfidenceBuffer Confidence score.
typedef MLDepthCameraFrameBuffer	MLDepthCameraDepthFlagsBuffer Flags.
typedef MLDepthCameraFrameBuffer	MLDepthCameraAmbientRawDepthImage Ambient raw depth image.
typedef MLDepthCameraFrameBuffer	MLDepthCameraRawDepthImage Raw depth image.
typedef struct MLDepthCameraFrame	MLDepthCameraFrame Structure to encapsulate output data for each camera sensor.
typedef struct MLDepthCameraData	MLDepthCameraData Structure to encapsulate output data for each camera stream.
typedef struct MLDepthCameraStreamCapability	MLDepthCameraStreamCapability Structure to encapsulate a possible configuration for a single stream. Can be used to understand possible values for a specific #stream_configs element in MLDepthCameraSettings.
typedef struct MLDepthCameraCapability	MLDepthCameraCapability Structure to encapsulate a possible set of streams configuration. Such set describes a possible way of setting #stream_configs in MLDepthCameraSettings and may hold multiple MLDepthCameraStreamCapability for different streams.
typedef struct MLDepthCameraCapabilityList	MLDepthCameraCapabilityList Structure to encapsulate a list of possible stream configurations.
typedef struct MLDepthCameraCapabilityFilter	MLDepthCameraCapabilityFilter Structure to encapsulate camera capabilities filtering.

Enums

	Name
enum	Anonymous Enum 8 { MLDepthCameraIntrinsics_MaxDistortionCoefficients = 5 }
enum	MLDepthCameraStream { MLDepthCameraStream_None = 0, MLDepthCameraStream_LongRange = 1 << 0, MLDepthCameraStream_ShortRange = 1 << 1, MLDepthCameraStream_Ensure32Bits = 0x7FFFFFFF } Enumeration of depth camera streams.
enum	MLDepthCameraFrameType { MLDepthCameraFrameType_LongRange = 0, MLDepthCameraFrameType_ShortRange = 1, MLDepthCameraFrameType_Count = 2, MLDepthCameraFrameType_Ensure32Bits = 0x7FFFFFFF } Enumeration of camera stream used when capturing a frame.
enum	MLDepthCameraFrameRate { MLDepthCameraFrameRate_1FPS = 0, MLDepthCameraFrameRate_5FPS = 1, MLDepthCameraFrameRate_25FPS = 2, MLDepthCameraFrameRate_30FPS = 3, MLDepthCameraFrameRate_50FPS = 4, MLDepthCameraFrameRate_60FPS = 5, MLDepthCameraFrameRate_Ensure32Bits = 0x7FFFFFFF } Enumeration of possible frame rates.
enum	MLDepthCameraFlags { MLDepthCameraFlags_None = 0, MLDepthCameraFlags_DepthImage = 1 << 0, MLDepthCameraFlags_Confidence = 1 << 1, MLDepthCameraFlags_DepthFlags = 1 << 2, MLDepthCameraFlags_AmbientRawDepthImage = 1 << 3, MLDepthCameraFlags_RawDepthImage = 1 << 4, MLDepthCameraFlags_Ensure32Bits = 0x7FFFFFFF } Enumeration of flags to select data requested from depth camera.
enum	MLDepthCameraDepthFlags { MLDepthCameraDepthFlags_Valid = 0 << 0, MLDepthCameraDepthFlags_Invalid = 1 << 0, MLDepthCameraDepthFlags_Saturated = 1 << 1, MLDepthCameraDepthFlags_Inconsistent = 1 << 2, MLDepthCameraDepthFlags_LowSignal = 1 << 3, MLDepthCameraDepthFlags_FlyingPixel = 1 << 4, MLDepthCameraDepthFlags_Masked = 1 << 5, MLDepthCameraDepthFlags_SBI = 1 << 8, MLDepthCameraDepthFlags_StrayLight = 1 << 9, MLDepthCameraDepthFlags_ConnectedComponent = 1 << 10, MLDepthCameraDepthFlags_Ensure32Bits = 0x7FFFFFFF } Enumeration of flags to select data requested from depth camera.

Functions

	Name
void	MLDepthCameraSettingsInit(MLDepthCameraSettings * inout_handle) Initialize the connect handle structure. Shall be called before calling MLDepthCameraConnect().
void	MLDepthCameraDataInit(MLDepthCameraData * inout_depth_camera_data) Initialize MLDepthCameraData with version.
void	MLDepthCameraCapabilityFilterInit(MLDepthCameraCapabilityFilter * inout_handle) Initialize the capabilities filtering structure. Shall be called before calling MLDepthCameraGetCapabilities().
MLResult	MLDepthCameraConnect(const MLDepthCameraSettings settings, MLHandle out_handle) Connect to depth camera.
MLResult	MLDepthCameraUpdateSettings(MLHandle handle, const MLDepthCameraSettings * settings) Update the depth camera settings.
MLResult	MLDepthCameraGetCapabilities(MLHandle handle, const MLDepthCameraCapabilityFilter filter, MLDepthCameraCapabilityList out_caps) Query the depth camera stream capabilities.
MLResult	MLDepthCameraReleaseCapabilities(MLHandle handle, MLDepthCameraCapabilityList * out_caps) Release resources allocated with MLDepthCameraGetCapabilities.
MLResult	MLDepthCameraGetLatestDepthData(MLHandle handle, uint64_t timeout_ms, MLDepthCameraData * out_data) Poll for Frames.
MLResult	MLDepthCameraReleaseDepthData(MLHandle handle, MLDepthCameraData * depth_camera_data) Releases specified MLDepthCameraData object.
MLResult	MLDepthCameraDisconnect(MLHandle handle) Disconnect from depth camera.

Enums Documentation

Anonymous Enum 8

Enumerator	Value	Description
MLDepthCameraIntrinsics_MaxDistortionCoefficients	5	Default distortion vector size.

MLDepthCameraStream

Enumerator	Value	Description
MLDepthCameraStream_None	0	None.
MLDepthCameraStream_LongRange	1 << 0	Long range stream. Under normal operations long range stream has a maximum frequency of 5fps and a range from 1m up to 5m, in some cases this can go as far 7.5m.
MLDepthCameraStream_ShortRange	1 << 1	Short range stream. Under normal operations short range stream has a maximum frequency of 60fps and a range from 0.2m up to 0.9m.
MLDepthCameraStream_Ensure32Bits	0x7FFFFFFF	Ensure enum is represented as 32 bits.

Enumeration of depth camera streams.

API Level:

MLDepthCameraFrameType

Enumerator	Value	Description
MLDepthCameraFrameType_LongRange	0	Frame captured using MLDepthCameraStream_LongRange stream.
MLDepthCameraFrameType_ShortRange	1	Frame captured using MLDepthCameraStream_ShortRange stream.
MLDepthCameraFrameType_Count	2
MLDepthCameraFrameType_Ensure32Bits	0x7FFFFFFF	Ensure enum is represented as 32 bits.

Enumeration of camera stream used when capturing a frame.

API Level:

MLDepthCameraFrameRate

Enumerator	Value	Description
MLDepthCameraFrameRate_1FPS	0
MLDepthCameraFrameRate_5FPS	1
MLDepthCameraFrameRate_25FPS	2
MLDepthCameraFrameRate_30FPS	3
MLDepthCameraFrameRate_50FPS	4
MLDepthCameraFrameRate_60FPS	5
MLDepthCameraFrameRate_Ensure32Bits	0x7FFFFFFF	Ensure enum is represented as 32 bits.

Enumeration of possible frame rates.

API Level:

MLDepthCameraFlags

Enumerator	Value	Description
MLDepthCameraFlags_None	0	None.
MLDepthCameraFlags_DepthImage	1 << 0	Enable MLDepthCameraDepthImage. See MLDepthCameraDepthImage for more details.
MLDepthCameraFlags_Confidence	1 << 1	Enable MLDepthCameraConfidenceBuffer. See MLDepthCameraConfidenceBuffer for more details.
MLDepthCameraFlags_DepthFlags	1 << 2	Enable MLDepthCameraDepthFlagsBuffer. See MLDepthCameraDepthFlagsBuffer for more details.
MLDepthCameraFlags_AmbientRawDepthImage	1 << 3	Enable MLDepthCameraAmbientRawDepthImage. See MLDepthCameraAmbientRawDepthImage for more details.
MLDepthCameraFlags_RawDepthImage	1 << 4	Enable MLDepthCameraRawDepthImage. See MLDepthCameraRawDepthImage for more details.
MLDepthCameraFlags_Ensure32Bits	0x7FFFFFFF	Ensure enum is represented as 32 bits.

Enumeration of flags to select data requested from depth camera.

MLDepthCameraDepthFlags

Enumerator	Value	Description
MLDepthCameraDepthFlags_Valid	0 << 0	Valid pixel. Indicates that there is no additional flag data for this pixel.
MLDepthCameraDepthFlags_Invalid	1 << 0	Invalid. This bit is set to one to indicate that one or more flags from below have been set. Depending on the use case the application can correlate the flag data and corresponding pixel data to determine how to handle the pixel data.
MLDepthCameraDepthFlags_Saturated	1 << 1	Pixel saturated. The pixel intensity is either below the min or the max threshold value.
MLDepthCameraDepthFlags_Inconsistent	1 << 2	Inconsistent data. Inconsistent data received when capturing frames. This can happen due to fast motion.
MLDepthCameraDepthFlags_LowSignal	1 << 3	Low signal. Pixel has very low signal to noise ratio. One example of when this can happen is for pixels in far end of the range.
MLDepthCameraDepthFlags_FlyingPixel	1 << 4	Flying pixel. This typically happens when there is step jump in the distance of adjoining pixels in the scene. Example: When you open a door looking into the room the edges along the door's edges can cause flying pixels.
MLDepthCameraDepthFlags_Masked	1 << 5	Masked. If this bit is on it indicates that the corresponding pixel may not be within the illuminator's illumination cone.
MLDepthCameraDepthFlags_SBI	1 << 8	SBI. This bit will be set when there is high noise.
MLDepthCameraDepthFlags_StrayLight	1 << 9	Stray light. This could happen when there is another light source apart from the depth camera illuminator. This could also lead to MLDepthCameraDepthFlags_LowSignal.
MLDepthCameraDepthFlags_ConnectedComponent	1 << 10	Connected component. If a small group of MLDepthCameraDepthFlags_Valid is surrounded by a set of MLDepthCameraDepthFlags_Invalid then this bit will be set to 1.
MLDepthCameraDepthFlags_Ensure32Bits	0x7FFFFFFF	Ensure enum is represented as 32 bits.

Enumeration of flags to select data requested from depth camera.

Types Documentation

MLDepthCameraStreamConfig

typedef struct MLDepthCameraStreamConfig MLDepthCameraStreamConfig;

Structure to encapsulate the camera config for a specific stream.

More Info

API Level:

MLDepthCameraSettings

typedef struct MLDepthCameraSettings MLDepthCameraSettings;

Structure to encapsulate the camera settings.

This structure must be initialized by calling MLDepthCameraSettingsInit before use.

These are supported configurations: Streams Exposure limits [us] Frame rate [FPS] Long Range 250 - 2000 1, 5 Short Range 50 - 375 On 50Hz PLC: 5, 25, 50On 60Hz PLC: 5, 30, 60 Use MLDepthCameraGetCapabilities to get a list of available configurations. \note The system may not be able to service all the requested streams at any given time. This parameter is treated as a hint and data will be provided for the requested streams if available. \note The API only supports a single stream. In a future release support for multiple streams will be added. @par API Level:\n 29

More Info

MLDepthCameraIntrinsics

typedef struct MLDepthCameraIntrinsics MLDepthCameraIntrinsics;

Depth camera intrinsic parameters.

More Info

API Level:

MLDepthCameraFrameBuffer

typedef struct MLDepthCameraFrameBuffer MLDepthCameraFrameBuffer;

Structure to encapsulate per plane info for each camera frame.

More Info

API Level:

MLDepthCameraDepthImage

typedef MLDepthCameraFrameBuffer MLDepthCameraDepthImage;

Depth image.

Depth image stores the depth data from the depth camera. Depth is represented in meters and gives the radial distance of the real world location from the depth camera coordinate frame. See MLDepthCameraIntrinsics and MLDepthCameraData.camera_pose for more details.

Cast the MLDepthCameraFrameBuffer.data to float data type.

More Info

MLDepthCameraConfidenceBuffer

typedef MLDepthCameraFrameBuffer MLDepthCameraConfidenceBuffer;

Confidence score.

Confidence buffer stores the confidence values for each pixel in the MLDepthCameraDepthImage. The confidence score is derived from the sensor noise and it is not normalized. The higher the value the higher the confidence. Applications can determine what confidence threshold to use based on their use case.

Cast the MLDepthCameraFrameBuffer.data to float data type.

More Info

MLDepthCameraDepthFlagsBuffer

typedef MLDepthCameraFrameBuffer MLDepthCameraDepthFlagsBuffer;

Flags.

Each pixel in the MLDepthCameraDepthImage will have an associated set of flags.

Cast the MLDepthCameraFrameBuffer.data to uint32_t data type.

More Info

MLDepthCameraAmbientRawDepthImage

typedef MLDepthCameraFrameBuffer MLDepthCameraAmbientRawDepthImage;

Ambient raw depth image.

This is the raw depth camera sensor data captured without the depth camera illumination and corresponds to the amount of ambient light incident on the sensor.

Cast the MLDepthCameraFrameBuffer.data to float data type.

More Info

MLDepthCameraRawDepthImage

typedef MLDepthCameraFrameBuffer MLDepthCameraRawDepthImage;

Raw depth image.

This is the raw depth camera sensor data captured with the depth camera illumination and corresponds to the amount of total light incident on the sensor.

Cast the MLDepthCameraFrameBuffer.data to float data type.

More Info

MLDepthCameraFrame

typedef struct MLDepthCameraFrame MLDepthCameraFrame;

Structure to encapsulate output data for each camera sensor.

More Info

API Level:

MLDepthCameraData

typedef struct MLDepthCameraData MLDepthCameraData;

Structure to encapsulate output data for each camera stream.

This structure must be initialized by calling MLDepthCameraDataInit before use.

More Info

API Level:

MLDepthCameraStreamCapability

typedef struct MLDepthCameraStreamCapability MLDepthCameraStreamCapability;

Structure to encapsulate a possible configuration for a single stream. Can be used to understand possible values for a specific #stream_configs element in MLDepthCameraSettings.

The capabilities supported by the depth camera can be queried with MLDepthCameraGetCapabilities().

More Info

API Level:

MLDepthCameraCapability

typedef struct MLDepthCameraCapability MLDepthCameraCapability;

Structure to encapsulate a possible set of streams configuration. Such set describes a possible way of setting #stream_configs in MLDepthCameraSettings and may hold multiple MLDepthCameraStreamCapability for different streams.

Whole #stream_capabilities array describe a single configuration. Using only part of it is not recommended.

The capabilities supported by the depth camera can be queried with MLDepthCameraGetCapabilities().

More Info

API Level:

MLDepthCameraCapabilityList

typedef struct MLDepthCameraCapabilityList MLDepthCameraCapabilityList;

Structure to encapsulate a list of possible stream configurations.

User should be able to use any of the capabilities from the list. They are grouped in usable sets of configurations - one set may contain different MLDepthCameraStreamCapability for different streams. For more information see MLDepthCameraCapability.

More Info

API Level:

MLDepthCameraCapabilityFilter

typedef struct MLDepthCameraCapabilityFilter MLDepthCameraCapabilityFilter;

Structure to encapsulate camera capabilities filtering.

The capabilities supported by the depth camera can be queried with MLDepthCameraGetCapabilities().

More Info

API Level:

Functions Documentation

MLDepthCameraSettingsInit

static inline void MLDepthCameraSettingsInit(
    MLDepthCameraSettings * inout_handle
)

Initialize the connect handle structure. Shall be called before calling MLDepthCameraConnect().

Parameters


MLDepthCameraSettings *	inout_handle	MLDepthCameraSettings structure to initialize.

Required Permissions:

None

API Level:

MLDepthCameraDataInit

static inline void MLDepthCameraDataInit(
    MLDepthCameraData * inout_depth_camera_data
)

Initialize MLDepthCameraData with version.

Parameters


MLDepthCameraData *	inout_depth_camera_data	Set up the version for inout_depth_camera_data.

API Level:

MLDepthCameraCapabilityFilterInit

static inline void MLDepthCameraCapabilityFilterInit(
    MLDepthCameraCapabilityFilter * inout_handle
)

Initialize the capabilities filtering structure. Shall be called before calling MLDepthCameraGetCapabilities().

Parameters


MLDepthCameraCapabilityFilter *	inout_handle	MLDepthCameraCapabilityFilter structure to initialize.

Required Permissions:

None

API Level:

MLDepthCameraConnect

MLResult MLDepthCameraConnect(
    const MLDepthCameraSettings * settings,
    MLHandle * out_handle
)

Connect to depth camera.

Parameters


const MLDepthCameraSettings *	settings	A pointer to MLDepthCameraSettings structure.
MLHandle *	out_handle	A pointer to camera handle to be used in later APIs.

Returns


MLResult	MLResult_InvalidParam	One of the parameters is invalid.
MLResult	MLResult_Ok	Connected to camera device(s) successfully.
MLResult	MLResult_PermissionDenied	Necessary permission is missing.
MLResult	MLResult_UnspecifiedFailure	The operation failed with an unspecified error.

Required Permissions:

com.magicleap.permission.DEPTH_CAMERA (protection level: dangerous)

API Level:

MLDepthCameraUpdateSettings

MLResult MLDepthCameraUpdateSettings(
    MLHandle handle,
    const MLDepthCameraSettings * settings
)

Update the depth camera settings.

Parameters


MLHandle	handle	Camera handle obtained from MLDepthCameraConnect.
const MLDepthCameraSettings *	settings	Pointer to MLDepthCameraSettings.

Returns


MLResult	MLResult_InvalidParam	Invalid handle.
MLResult	MLResult_Ok	Settings updated successfully.
MLResult	MLResult_UnspecifiedFailure	Failed due to internal error.

Required Permissions:

None

API Level:

MLDepthCameraGetCapabilities

MLResult MLDepthCameraGetCapabilities(
    MLHandle handle,
    const MLDepthCameraCapabilityFilter * filter,
    MLDepthCameraCapabilityList * out_caps
)

Query the depth camera stream capabilities.

Parameters


MLHandle	handle	Camera handle obtained from MLDepthCameraConnect.
const MLDepthCameraCapabilityFilter *	filter	Pointer to initialized MLDepthCameraCapabilityFilter structure. Used for filtering.
MLDepthCameraCapabilityList *	out_caps	Pointer to initialized MLDepthCameraCapabilityList structure.

Returns


MLResult	MLResult_InvalidParam	One of the parameters is invalid.
MLResult	MLResult_Ok	API call completed successfully.

Required Permissions:

None

Retrieves the capabilities supported by the depth camera based on the provided filter. Overview of the capabilities can be seen in the [configuration table].

After each call, a corresponding call to MLDepthCameraReleaseCapabilities should be made to release allocated resources.

API Level:

MLDepthCameraReleaseCapabilities

MLResult MLDepthCameraReleaseCapabilities(
    MLHandle handle,
    MLDepthCameraCapabilityList * out_caps
)

Release resources allocated with MLDepthCameraGetCapabilities.

Parameters


MLHandle	handle	Camera handle obtained from MLDepthCameraConnect.
MLDepthCameraCapabilityList *	out_caps	Pointer to MLDepthCameraCapabilityList filled by the call to MLDepthCameraGetCapabilities.

Returns


MLResult	MLResult_InvalidParam	One of the parameters is invalid.
MLResult	MLResult_Ok	API call completed successfully.

Required Permissions:

None

API Level:

MLDepthCameraGetLatestDepthData

MLResult MLDepthCameraGetLatestDepthData(
    MLHandle handle,
    uint64_t timeout_ms,
    MLDepthCameraData * out_data
)

Poll for Frames.

Parameters


MLHandle	handle	Camera handle obtained from MLDepthCameraConnect.
uint64_t	timeout_ms	Timeout in milliseconds.
MLDepthCameraData *	out_data	Depth camera data. Should be an initialized MLDepthCameraData object.

Returns


MLResult	MLResult_InvalidParam	Invalid handle.
MLResult	MLResult_Ok	Depth camera data fetched successfully.
MLResult	MLResult_Timeout	Returned because no new frame available at this time.
MLResult	MLResult_UnspecifiedFailure	Failed due to internal error.

Required Permissions:

None

Returns MLDepthCameraData with this latest data when available. The memory is owned by the system. Application should copy the data it needs to cache it and then release the memory by calling #MLDepthCameraReleaseCameraData.

This is a blocking call. API is not thread safe.

If there are no new depth data frames within the timeout_ms duration then the API will return MLResult_Timeout.

API Level:

MLDepthCameraReleaseDepthData

MLResult MLDepthCameraReleaseDepthData(
    MLHandle handle,
    MLDepthCameraData * depth_camera_data
)

Releases specified MLDepthCameraData object.

Parameters


MLHandle	handle	Camera handle obtained from MLDepthCameraConnect.
MLDepthCameraData *	depth_camera_data	Pointer to a valid MLDepthCameraData object.

Returns


MLResult	MLResult_Ok	Successfully released depth camera data.
MLResult	MLResult_InvalidParam	depth_camera_data parameter was not valid (NULL).
MLResult	MLResult_UnspecifiedFailure	Failed due to internal error.

Required Permissions:

None

This function should be called exactly once for each successfull call to #MLDepthCameraGetLatestCameraData.

MLDepthCameraDisconnect

MLResult MLDepthCameraDisconnect(
    MLHandle handle
)

Disconnect from depth camera.

Parameters


MLHandle	handle	Camera handle obtained from MLDepthCameraConnect.

Returns


MLResult	MLResult_InvalidParam	Invalid handle.
MLResult	MLResult_Ok	Disconnected camera successfully.
MLResult	MLResult_UnspecifiedFailure	Failed to disconnect camera.

Required Permissions:

None

This will disconnect from the depth camera.

API Level:

Source code

// %BANNER_BEGIN%
// ---------------------------------------------------------------------
// %COPYRIGHT_BEGIN%
// Copyright (c) 2022 Magic Leap, Inc. All Rights Reserved.
// Use of this file is governed by the Software License Agreement,
// located here: https://www.magicleap.com/software-license-agreement-ml2
// Terms and conditions applicable to third-party materials accompanying
// this distribution may also be found in the top-level NOTICE file
// appearing herein.
// %COPYRIGHT_END%
// ---------------------------------------------------------------------
// %BANNER_END%

#pragma once

#include "ml_api.h"
#include "ml_types.h"

#include <string.h>

ML_EXTERN_C_BEGIN

enum {
  MLDepthCameraIntrinsics_MaxDistortionCoefficients = 5
};

typedef enum MLDepthCameraStream {
  MLDepthCameraStream_None = 0,
  MLDepthCameraStream_LongRange = 1 << 0,
  MLDepthCameraStream_ShortRange = 1 << 1,
  MLDepthCameraStream_Ensure32Bits = 0x7FFFFFFF
} MLDepthCameraStream;

typedef enum MLDepthCameraFrameType {
  MLDepthCameraFrameType_LongRange = 0,
  MLDepthCameraFrameType_ShortRange = 1,
  MLDepthCameraFrameType_Count = 2,
  MLDepthCameraFrameType_Ensure32Bits = 0x7FFFFFFF
} MLDepthCameraFrameType;

typedef enum MLDepthCameraFrameRate {
  MLDepthCameraFrameRate_1FPS = 0,
  MLDepthCameraFrameRate_5FPS = 1,
  MLDepthCameraFrameRate_25FPS = 2,
  MLDepthCameraFrameRate_30FPS = 3,
  MLDepthCameraFrameRate_50FPS = 4,
  MLDepthCameraFrameRate_60FPS = 5,
  MLDepthCameraFrameRate_Ensure32Bits = 0x7FFFFFFF
} MLDepthCameraFrameRate;

typedef enum MLDepthCameraFlags {
  MLDepthCameraFlags_None = 0,
  MLDepthCameraFlags_DepthImage = 1 << 0,
  MLDepthCameraFlags_Confidence = 1 << 1,
  MLDepthCameraFlags_DepthFlags = 1 << 2,
  MLDepthCameraFlags_AmbientRawDepthImage = 1 << 3,
  MLDepthCameraFlags_RawDepthImage = 1 << 4,
  MLDepthCameraFlags_Ensure32Bits = 0x7FFFFFFF
} MLDepthCameraFlags;

typedef enum MLDepthCameraDepthFlags {
  MLDepthCameraDepthFlags_Valid = 0 << 0,
  MLDepthCameraDepthFlags_Invalid = 1 << 0,
  MLDepthCameraDepthFlags_Saturated = 1 << 1,
  MLDepthCameraDepthFlags_Inconsistent = 1 << 2,
  MLDepthCameraDepthFlags_LowSignal = 1 << 3,
  MLDepthCameraDepthFlags_FlyingPixel = 1 << 4,
  MLDepthCameraDepthFlags_Masked = 1 << 5,
  MLDepthCameraDepthFlags_SBI = 1 << 8,
  MLDepthCameraDepthFlags_StrayLight = 1 << 9,
  MLDepthCameraDepthFlags_ConnectedComponent = 1 << 10,
  MLDepthCameraDepthFlags_Ensure32Bits = 0x7FFFFFFF
} MLDepthCameraDepthFlags;

typedef struct MLDepthCameraStreamConfig {
  uint32_t flags;
  uint32_t exposure;
  MLDepthCameraFrameRate frame_rate;
} MLDepthCameraStreamConfig;

typedef struct MLDepthCameraSettings {
  uint32_t version;
  uint32_t streams;
  MLDepthCameraStreamConfig stream_configs[MLDepthCameraFrameType_Count];
} MLDepthCameraSettings;

ML_STATIC_INLINE void MLDepthCameraSettingsInit(MLDepthCameraSettings *inout_handle) {
  if (inout_handle) {
    memset(inout_handle, 0, sizeof(MLDepthCameraSettings));
    inout_handle->version = 2;
    inout_handle->streams = MLDepthCameraStream_LongRange;

    MLDepthCameraStreamConfig *config = &inout_handle->stream_configs[MLDepthCameraFrameType_LongRange];
    config->flags = MLDepthCameraFlags_DepthImage;
    config->exposure = 1600;
    config->frame_rate = MLDepthCameraFrameRate_5FPS;

    config = &inout_handle->stream_configs[MLDepthCameraFrameType_ShortRange];
    config->flags = MLDepthCameraFlags_DepthImage;
    config->exposure = 375;
    config->frame_rate = MLDepthCameraFrameRate_5FPS;
  }
}

typedef struct MLDepthCameraIntrinsics {
  uint32_t width;
  uint32_t height;
  MLVec2f focal_length;
  MLVec2f principal_point;
  float fov;
  double distortion[MLDepthCameraIntrinsics_MaxDistortionCoefficients];
} MLDepthCameraIntrinsics;

typedef struct MLDepthCameraFrameBuffer {
  uint32_t width;
  uint32_t height;
  uint32_t stride;
  uint32_t bytes_per_unit;
  uint32_t size;
  void *data;
} MLDepthCameraFrameBuffer;

typedef MLDepthCameraFrameBuffer MLDepthCameraDepthImage;

typedef MLDepthCameraFrameBuffer MLDepthCameraConfidenceBuffer;

typedef MLDepthCameraFrameBuffer MLDepthCameraDepthFlagsBuffer;

typedef MLDepthCameraFrameBuffer MLDepthCameraAmbientRawDepthImage;

typedef MLDepthCameraFrameBuffer MLDepthCameraRawDepthImage;

typedef struct MLDepthCameraFrame {
  int64_t frame_number;
  MLTime frame_timestamp;
  MLDepthCameraFrameType frame_type;
  MLTransform camera_pose;
  MLDepthCameraIntrinsics intrinsics;
  MLDepthCameraDepthImage *depth_image;
  MLDepthCameraConfidenceBuffer *confidence;
  MLDepthCameraDepthFlagsBuffer *flags;
  MLDepthCameraAmbientRawDepthImage *ambient_raw_depth_image;
  MLDepthCameraRawDepthImage *raw_depth_image;
} MLDepthCameraFrame;

typedef struct MLDepthCameraData {
  uint32_t version;
  uint8_t frame_count;
  MLDepthCameraFrame *frames;
} MLDepthCameraData;

ML_STATIC_INLINE void MLDepthCameraDataInit(MLDepthCameraData *inout_depth_camera_data) {
  if (inout_depth_camera_data) {
    memset(inout_depth_camera_data, 0, sizeof(MLDepthCameraData));
    inout_depth_camera_data->version = 3;
  }
}

typedef struct MLDepthCameraStreamCapability {
  MLDepthCameraStream stream;
  uint32_t min_exposure;
  uint32_t max_exposure;
  MLDepthCameraFrameRate frame_rate;
} MLDepthCameraStreamCapability;


typedef struct MLDepthCameraCapability {
  uint8_t size;
  MLDepthCameraStreamCapability *stream_capabilities;
} MLDepthCameraCapability;

typedef struct MLDepthCameraCapabilityList {
  uint8_t size;
  MLDepthCameraCapability *capabilities;
} MLDepthCameraCapabilityList;

typedef struct MLDepthCameraCapabilityFilter {
  uint32_t version;
  uint32_t streams;
} MLDepthCameraCapabilityFilter;

ML_STATIC_INLINE void MLDepthCameraCapabilityFilterInit(MLDepthCameraCapabilityFilter *inout_handle) {
  if (inout_handle) {
    memset(inout_handle, 0, sizeof(MLDepthCameraCapabilityFilter));
    inout_handle->version = 1;
  }
}

ML_API MLResult ML_CALL MLDepthCameraConnect(const MLDepthCameraSettings *settings, MLHandle *out_handle);

ML_API MLResult ML_CALL MLDepthCameraUpdateSettings(MLHandle handle, const MLDepthCameraSettings *settings);

ML_API MLResult ML_CALL MLDepthCameraGetCapabilities(MLHandle handle, const MLDepthCameraCapabilityFilter *filter, MLDepthCameraCapabilityList *out_caps);

ML_API MLResult ML_CALL MLDepthCameraReleaseCapabilities(MLHandle handle, MLDepthCameraCapabilityList *out_caps);

ML_API MLResult ML_CALL MLDepthCameraGetLatestDepthData(MLHandle handle, uint64_t timeout_ms, MLDepthCameraData *out_data);

ML_API MLResult ML_CALL MLDepthCameraReleaseDepthData(MLHandle handle, MLDepthCameraData *depth_camera_data);

ML_API MLResult ML_CALL MLDepthCameraDisconnect(MLHandle handle);

ML_EXTERN_C_END

ml_depth_camera.h

Classes​

Types​

Enums​

Functions​

Enums Documentation​

Anonymous Enum 8​

MLDepthCameraStream​

MLDepthCameraFrameType​

MLDepthCameraFrameRate​

MLDepthCameraFlags​

MLDepthCameraDepthFlags​

Types Documentation​

MLDepthCameraStreamConfig​

MLDepthCameraSettings​

MLDepthCameraIntrinsics​

MLDepthCameraFrameBuffer​

MLDepthCameraDepthImage​

MLDepthCameraConfidenceBuffer​

MLDepthCameraDepthFlagsBuffer​

MLDepthCameraAmbientRawDepthImage​

MLDepthCameraRawDepthImage​

MLDepthCameraFrame​

MLDepthCameraData​

MLDepthCameraStreamCapability​

MLDepthCameraCapability​

MLDepthCameraCapabilityList​

MLDepthCameraCapabilityFilter​

Functions Documentation​

MLDepthCameraSettingsInit​

MLDepthCameraDataInit​

MLDepthCameraCapabilityFilterInit​

MLDepthCameraConnect​

MLDepthCameraUpdateSettings​

MLDepthCameraGetCapabilities​

MLDepthCameraReleaseCapabilities​

MLDepthCameraGetLatestDepthData​

MLDepthCameraReleaseDepthData​

MLDepthCameraDisconnect​

Source code​

Classes

Types

Enums

Functions

Enums Documentation

Anonymous Enum 8

MLDepthCameraStream

MLDepthCameraFrameType

MLDepthCameraFrameRate

MLDepthCameraFlags

MLDepthCameraDepthFlags

Types Documentation

MLDepthCameraStreamConfig

MLDepthCameraSettings

MLDepthCameraIntrinsics

MLDepthCameraFrameBuffer

MLDepthCameraDepthImage

MLDepthCameraConfidenceBuffer

MLDepthCameraDepthFlagsBuffer

MLDepthCameraAmbientRawDepthImage

MLDepthCameraRawDepthImage

MLDepthCameraFrame

MLDepthCameraData

MLDepthCameraStreamCapability

MLDepthCameraCapability

MLDepthCameraCapabilityList

MLDepthCameraCapabilityFilter

Functions Documentation

MLDepthCameraSettingsInit

MLDepthCameraDataInit

MLDepthCameraCapabilityFilterInit

MLDepthCameraConnect

MLDepthCameraUpdateSettings

MLDepthCameraGetCapabilities

MLDepthCameraReleaseCapabilities

MLDepthCameraGetLatestDepthData

MLDepthCameraReleaseDepthData

MLDepthCameraDisconnect

Source code