update SDK

orbbec_camera/SDK/include/libobsensor/h/Filter.h

@@ -361,7 +361,7 @@ ob_int_property_range ob_threshold_filter_get_max_range(ob_filter *filter, ob_er
  * @param[in] max threshold filter scale max value.
  * @param[out] error Log error messages.
  */
-void ob_threshold_filter_set_scale_value(ob_filter *filter, uint16_t min, uint16_t max, ob_error **error);
+bool ob_threshold_filter_set_scale_value(ob_filter *filter, uint16_t min, uint16_t max, ob_error **error);
 
 /**
  * @brief Create a SequenceId filter.

orbbec_camera/SDK/include/libobsensor/h/ObTypes.h

@@ -241,6 +241,7 @@ typedef enum {
     OB_FORMAT_RGBA       = 31,   /**< RGBA format */
     OB_FORMAT_BYR2       = 32,   /**< byr2 format */
     OB_FORMAT_RW16       = 33,   /**< RAW16 format */
+    OB_FORMAT_DISP16     = 34,   /**< Y16 format for disparity map*/
     OB_FORMAT_UNKNOWN    = 0xff, /**< unknown format */
 } OBFormat,
     ob_format;
@@ -420,10 +421,11 @@ typedef struct {
 
 /** \brief Distortion model: defines how pixel coordinates should be mapped to sensor coordinates. */
 typedef enum {
-    OB_DISTORTION_NONE,                  /**< Rectilinear images. No distortion compensation required. */
-    OB_DISTORTION_MODIFIED_BROWN_CONRADY, /**< Equivalent to Brown-Conrady distortion, except that tangential distortion is applied to radially distorted points */
-    OB_DISTORTION_INVERSE_BROWN_CONRADY, /**< Equivalent to Brown-Conrady distortion, except undistorts image instead of distorting it */
-    OB_DISTORTION_BROWN_CONRADY,         /**< Unmodified Brown-Conrady distortion model */
+    OB_DISTORTION_NONE,                   /**< Rectilinear images. No distortion compensation required. */
+    OB_DISTORTION_MODIFIED_BROWN_CONRADY, /**< Equivalent to Brown-Conrady distortion, except that tangential distortion is applied to radially distorted points
+                                           */
+    OB_DISTORTION_INVERSE_BROWN_CONRADY,  /**< Equivalent to Brown-Conrady distortion, except undistorts image instead of distorting it */
+    OB_DISTORTION_BROWN_CONRADY,          /**< Unmodified Brown-Conrady distortion model */
 } OBCameraDistortionModel,
     ob_camera_distortion_model;
 

orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp

@@ -376,7 +376,7 @@ public:
     /**
      * @brief Get the threshold filter max and min range.
      */
-    void setValueRange(uint16_t min, uint16_t max);
+    bool setValueRange(uint16_t min, uint16_t max);
 };
 
 /**
@@ -477,7 +477,7 @@ public:
 // Define the is() template function for the Filter class
 template <typename T> bool Filter::is() {
     std::string name = type();
-    if(name == "HdrMerge") {
+    if(name == "HDRMerge") {
         return typeid(T) == typeid(HdrMerge);
     }
     if(name == "SequenceIdFilter") {
@@ -486,7 +486,7 @@ template <typename T> bool Filter::is() {
     if(name == "ThresholdFilter") {
         return typeid(T) == typeid(ThresholdFilter);
     }
-    if(name == "DisparityTransform") {
+    if(name == "Disparity to Depth") {
         return typeid(T) == typeid(DisparityTransform);
     }
     if(name == "NoiseRemovalFilter") {

orbbec_camera/src/ob_camera_node.cpp

@@ -150,7 +150,7 @@ void OBCameraNode::setupDevices() {
       auto filter = filter_list->getFilter(i);
       std::map<std::string, bool> filter_params = {
           {"DecimationFilter", enable_decimation_filter_},
-          {"HdrMerge", enable_hdr_merge_},
+          {"HDRMerge", enable_hdr_merge_},
           {"SequencedFilter", enable_sequence_id_filter_},
           {"ThresholdFilter", enable_threshold_filter_},
           {"NoiseRemovalFilter", enable_noise_removal_filter_},
@@ -201,7 +201,7 @@ void OBCameraNode::setupDevices() {
       } else if (filter_name == "HdrMerge") {
         // do nothing
       } else {
-        RCLCPP_ERROR_STREAM(logger_, "Unsupported filter: " << filter_name);
+        RCLCPP_INFO_STREAM(logger_, "Skip setting filter: " << filter_name);
       }
     }
     if (!depth_work_mode_.empty()) {