MLDepthCamera

NameSpace: MagicLeap

APIs to access the depth camera data. More...

Inherits from:
MLAutoAPISingleton< MLDepthCamera >,
MLLazySingleton< T >

Detailed Description

public class MLDepthCamera : MLAutoAPISingleton< MLDepthCamera > 

Details*

This is an experimental API which may be modified or removed without any prior notice.

The API only supports reading data from the depth camera. Apps cannot modify the camera settings, support for the same may be added in a future release.

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Public Fields

CurrentSettings

The settings the Depth Camera is currently configured with.

public static Settings CurrentSettings { get; set; }

Type	Description
Settings	Depth Camera Settings

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IsConnected

public static bool IsConnected { get; set; }

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Public Methods

MLResult Connect

Connect to depth camera.

public static MLResult Connect()

Details*

API Level 29

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

Returns: MLResult.Code.InvalidParam: One of the parameters is invalid. MLResult.Code.Ok: Connected to camera device(s) successfully. MLResult.Code.PermissionDenied: Necessary permission is missing. MLResult.Code.LicenseError: Necessary license is missing. MLResult.Code.UnspecifiedFailure: The operation failed with an unspecified error.

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MLResult Disconnect

Disconnect from depth camera.

public static MLResult Disconnect()

Details*

API Level 29

permissions None

Returns: MLResult.Code.InvalidParam: The camera's handle was invalid. MLResult.Code.Ok: Disconnected camera successfully. MLResult.Code.UnspecifiedFailure: Failed to disconnect camera for some unknown reason.

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MLResult GetCapabilities

public static MLResult GetCapabilities(
    out StreamCapability [] capabilities
)

Parameters

Type	Name	Description
out StreamCapability []	capabilities	Structure to encapsulate a possible configuration for a single stream. Can be used to understand possible values for a specific StreamConfig element in MLDepthCameraSettings. The capabilities supported by the depth camera can be queried with InternalGetCapabilities().

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MLResult GetLatestDepthData

Poll for Frames.

public static MLResult GetLatestDepthData(
    ulong timeoutMs,
    out Data data
)

Parameters

Type	Name	Description
ulong	timeoutMs	Timeout in milliseconds.
out Data	data	Depth camera data. Will be null if no valid data is available when called.

Details*

Returns a Data object referencing the latest available frame data, if any.

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

If there are no new depth data frames for a given duration (duration determined by the system) then the API will return MLResult.Code.Timeout.

API Level 29

permissions None

Returns: MLResult.Code.InvalidParam: The camera's handle was invalid. MLResult.Code.Ok: Depth camera data fetched successfully. MLResult.Code.Timeout: No frame available within time limit. MLResult.Code.UnspecifiedFailure: Failed due to internal error.

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void SetSettings

Sets the current settings of Depth Camera.

public static void SetSettings(
    Settings settings
)

Parameters

Type	Name	Description
Settings	settings

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MLResult UpdateSettings

Update the depth camera settings.

public static MLResult UpdateSettings(
    Settings settings
)

Parameters

Type	Name	Description
Settings	settings	New Settings for the depth camera.

Details*

API Level 29

permissions None

Returns: MLResult.Code.InvalidParam: The camera's handle was invalid. MLResult.Code.Ok: Settings updated successfully. MLResult.Code.UnspecifiedFailure: Failed due to internal error.

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Protected Methods

OnApplicationPause

Callback sent to all MagicLeap APIs on application pause.

protected virtual override void OnApplicationPause(
    bool pauseStatus
)

Parameters

Type	Name	Description
bool	pauseStatus	True if the application is paused, else False.

Reimplements: OnApplicationPause

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StartAPI

Do API-specific creation/initialization of ML resources for this API, such as creating trackers, etc. Called automatically the first time Instance is accessed. Error checking on the return value is performed in the base class.

protected virtual override MLResult.Code StartAPI()

Reimplements: StartAPI

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StopAPI

API-specific cleanup. Will be called whenever MLDevice is destroyed (at the latest, when the application is shutting down). Error checking on the return value is performed in the base class.

protected virtual override MLResult.Code StopAPI()

Reimplements: StopAPI

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Public Attributes

FrameTypeCount

public const int FrameTypeCount = 2;

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Public Enums

CaptureFlags

Flags used to specify what kind of data to request from Depth Camera

Enumerator	Value	Description
DepthImage	1 << 0	Enable DepthImage. See Data.DepthImage for more details.
Confidence	1 << 1	Enable ConfidenceBuffer. See Data.ConfidenceBuffer for more details.
DepthFlags	1 << 2	Enable DepthFlagsBuffer. See Data.DepthFlagsBuffer for more details.
AmbientRawDepthImage	1 << 3	Enable AmbientRawDepthImage. See Data.AmbientRawDepthImage for more details.
RawDepthImage	1 << 4	Enable RawDepthImage. See Data.RawDepthImage for more details.

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DepthFlags

Flags to select data requested from depth camera.

Enumerator	Value	Description
Valid	0 << 0	Indicates that there is no additional flag data for this pixel.
Invalid	1 << 0	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
Saturated	1 << 1	The pixel intensity is either below the min or the max threshold value.
Inconsistent	1 << 2	Inconsistent data received when capturing frames. This can happen due to fast motion.
LowSignal	1 << 3	Pixel has very low signal to noise ratio. One example of when this can happen is for pixels in far end of the range.
FlyingPixel	1 << 4	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.
Masked	1 << 5	If this bit is on it indicates that the corresponding pixel may not be within the projector's illumination cone.
SBI	1 << 8	This bit will be set when there is high noise.
StrayLight	1 << 9	This could happen when there is another light source apart from the depth camera projector. This could also lead to LowSignal.
ConnectedComponent	1 << 10	If a small group of Valid is sorrunded by a set of Invalid then this bit will be set to 1.

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FrameRate

Enumeration of possible frame rates

Enumerator	Value	Description
FPS_1
FPS_5
FPS_25
FPS_30
FPS_50
FPS_60

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FrameType

Depth Camera frame capture types

Enumerator	Value	Description
LongRange		Frame captured using Stream.LongRange mode.
ShortRange		Frame captured using Stream.ShortRange mode.

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Stream

Depth Camera modes Future release may add support to other modes.

Enumerator	Value	Description
None	0
LongRange	1 << 0	Long range mode Under normal operations long range mode has a maximum frequency of 5fps and a range of up to 5m, in some cases this can go as far 7.5m.
ShortRange	1 << 1	Short range mode Under normal operations short range stream has a maximum frequency of 60fps and a range from 0.2m up to 0.9m.

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