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orbbec

package module

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Versions in this module

v0

v0.1.1

Oct 27, 2026

Changes in this version

type Camera

+ func (c *Camera) Stats() Stats

+ type Stats struct

+ ColorDropped int64

+ ColorFrames int64

+ DepthDeviceSeq uint64

+ DepthDropped int64

+ DepthFrames int64

v0.1.0

Oct 27, 2026

Changes in this version

+ const FormatI420

+ const FormatMJPG

+ const FormatRVL

+ const FormatY12C4

+ const FormatY16

+ const FormatY8

+ const FormatYUYV

+ const GevStatusAccessDenied

+ const GevStatusError

+ const GevStatusSuccess

+ const PropColorAutoExposureBool

+ const PropCompatVersionInt

+ const PropDepthAlignHardwareBool

+ const PropDepthPrecisionLevelInt

+ const PropDeviceCommunicationTypeInt

+ const PropDevicePIDInt

+ const PropDisparityToDepthBool

+ const PropIRAutoExposureBool

+ const PropLaserBool

+ const PropStopColorStreamBool

+ const PropStopDepthStreamBool

+ const RawDataAlignCalibParam

+ const RawDataD2CAlignSupportProfileList

+ const RawDataDepthCalibParam

+ const RawDataEffectiveStreamProfileList

+ const SensorColor

+ const SensorConfidence

+ const SensorDepth

+ const SensorIR

+ const SensorIRLeft

+ const SensorIRRight

+ const StructVersion

+ var ErrAccessDenied = errors.New("camera is controlled by another application (GVCP access denied)")

+ var ErrAlreadyOpen = errors.New("camera is already open")

+ var ErrClosed = errors.New("device is closed")

+ var ErrTimeout = errors.New("timed out waiting for a frame")

+ type Calibration struct

+ Depth []DepthCalibParam

+ func (c *Calibration) BaselineMM() float64

+ func (c *Calibration) ColorIntrinsics(w, h int) (Intrinsics, error)

+ func (c *Calibration) DepthIntrinsics(w, h int) (Intrinsics, error)

+ func (c *Calibration) DepthToColor() (Extrinsic, bool)

+ type Camera struct

+ func New(cfg Config) *Camera

+ func (c *Camera) BaselineMM() float64

+ func (c *Camera) Close() error

+ func (c *Camera) ColorParams() *ColorParams

+ func (c *Camera) DeviceInfo() DeviceInfo

+ func (c *Camera) GrabColor(timeout time.Duration) (*ColorFrame, error)

+ func (c *Camera) GrabDepth(timeout time.Duration) (*DepthFrame, error)

+ func (c *Camera) HasColor() bool

+ func (c *Camera) Intrinsics() Intrinsics

+ func (c *Camera) IsAlive(maxAge time.Duration) bool

+ func (c *Camera) LastError() string

+ func (c *Camera) LatestColor(newerThan uint64, timeout time.Duration) (*ColorFrame, uint64)

+ func (c *Camera) Open() error

+ func (c *Camera) OpenContext(ctx context.Context) error

+ func (c *Camera) RecentDepths(n int, timeout, maxAge time.Duration) ([]*DepthFrame, error)

+ type ColorFrame struct

+ Height int

+ JPEG []byte

+ Metadata []byte

+ Seq uint64

+ Time time.Time

+ Width int

+ func (f *ColorFrame) Clone() *ColorFrame

+ type ColorParams struct

+ DepthToRGB Extrinsic

+ Intrinsics Intrinsics

+ type Config struct

+ AliveTimeout time.Duration

+ Color *StreamConfig

+ ColorRTSPPort int

+ ControlPort int

+ Depth StreamConfig

+ DepthPrecision *DepthPrecision

+ DepthRTSPPort int

+ FrameIdleTimeout time.Duration

+ GVCPPort int

+ IP string

+ Logger *slog.Logger

+ NoColor bool

+ OpenRetries int

+ RetryWait time.Duration

+ RingSize int

+ type DepthCalibParam struct

+ Baseline float32

+ DepthMode uint32

+ DispOffset float32

+ FocalPix float32

+ InvalidDisp int32

+ Unit float32

+ Z0 float32

+ type DepthFrame struct

+ Data []uint16

+ DeviceSeq uint64

+ DeviceTimestampUs uint64

+ Height int

+ Metadata []byte

+ Seq uint64

+ Time time.Time

+ Width int

+ func (f *DepthFrame) At(u, v int) uint16

+ func (f *DepthFrame) Clone() *DepthFrame

+ type DepthPrecision int32

+ const Precision0mm05

+ const Precision0mm1

+ const Precision0mm2

+ const Precision0mm4

+ const Precision0mm5

+ const Precision0mm8

+ const Precision1mm

+ const PrecisionKeep

+ func (p DepthPrecision) Unit() (float32, error)

+ type Device struct

+ func OpenDevice(ctx context.Context, opts DeviceOptions) (*Device, error)

+ func (d *Device) Calibration() *Calibration

+ func (d *Device) Close() error

+ func (d *Device) ControlLost() bool

+ func (d *Device) DepthUnitMM() float32

+ func (d *Device) GetProperty(id uint32) (int32, error)

+ func (d *Device) GetPropertyRange(id uint32) (PropertyRange, error)

+ func (d *Device) Info() DeviceInfo

+ func (d *Device) Profiles() []EffectiveProfile

+ func (d *Device) SetProperty(id uint32, v int32) error

+ func (d *Device) StartColor(ctx context.Context, cfg StreamConfig, onFrame func(*ColorFrame)) (*Stream, error)

+ func (d *Device) StartDepth(ctx context.Context, cfg StreamConfig, onFrame func(*DepthFrame)) (*Stream, error)

+ func (d *Device) Version() VersionInfo

+ type DeviceError struct

+ Code uint16

+ Msg string

+ Opcode uint16

+ PropertyID uint32

+ func (e *DeviceError) Error() string

+ type DeviceInfo struct

+ Connection string

+ Firmware string

+ Hardware string

+ IP string

+ MAC string

+ Name string

+ PID uint16

+ Serial string

+ type DeviceOptions struct

+ ColorRTSPPort int

+ ControlPort int

+ DepthPrecision *DepthPrecision

+ DepthRTSPPort int

+ FrameIdleTimeout time.Duration

+ GVCPPort int

+ IP string

+ Logger *slog.Logger

+ ReadOnly bool

+ type DiscoveredDevice struct

+ Firmware string

+ Gateway string

+ IP string

+ LocalIP string

+ MAC string

+ Manufacturer string

+ Mask string

+ Model string

+ PID uint16

+ Serial string

+ UserName string

+ func Discover(ctx context.Context, wait time.Duration) ([]DiscoveredDevice, error)

+ type EffectiveProfile struct

+ Format uint32

+ Height int

+ MaxFPS int

+ Sensor uint32

+ Width int

+ func (p EffectiveProfile) String() string

+ type Extrinsic struct

+ R [9]float64

+ T [3]float64

+ type FrameMetadata struct

+ ActualFPS uint8

+ AnalogGain uint16

+ AutoExposure bool

+ DigitalGain uint16

+ Exposure uint32

+ FrameCounter uint32

+ GainLevel uint16

+ Height uint16

+ LaserPower uint16

+ LaserPowerLevel uint8

+ LaserStatus uint8

+ SensorTimestampUs int64

+ Width uint16

+ func ParseFrameMetadata(b []byte, depth bool) (FrameMetadata, error)

+ type Intrinsics struct

+ Cx float64

+ Cy float64

+ Fx float64

+ Fy float64

+ Height int

+ Width int

+ type PropertyRange struct

+ Cur int32

+ Def int32

+ Max int32

+ Min int32

+ Step int32

+ type Stream struct

+ func (s *Stream) Close()

+ func (s *Stream) Done() <-chan struct{}

+ func (s *Stream) Err() error

+ func (s *Stream) Stats() (frames, dropped int64)

+ type StreamConfig struct

+ FPS int

+ Height int

+ Width int

+ type VersionInfo struct

+ DepthChip string

+ DeviceName string

+ DeviceType int32

+ Firmware string

+ Hardware string

+ MinSDK string

+ Serial string

+ SubSystem string

+ SystemChip string