update OrbbecSDK version to 2.10.1

orbbec_camera/SDK/arm64/include/libobsensor/h/Device.h

@@ -401,7 +401,9 @@ OB_EXPORT void ob_device_set_state_changed_callback(ob_device *device, ob_device
 
 /**
  * @brief Enable or disable the device heartbeat.
- * @brief After enable the device heartbeat, the sdk will start a thread to send heartbeat signal to the device error every 3 seconds.
+ *
+ * When enabled, the SDK sends heartbeat signals at the device monitor polling interval. The default interval is 3000 ms and can be adjusted with
+ * ob_device_set_monitor_poll_interval. If the device does not support heartbeat, an error is reported through @p error.
 
  * @attention If the device does not receive the heartbeat signal for a long time, it will be disconnected and rebooted.
  *
@@ -412,7 +414,7 @@ OB_EXPORT void ob_device_set_state_changed_callback(ob_device *device, ob_device
 OB_EXPORT void ob_device_enable_heartbeat(ob_device *device, bool enable, ob_error **error);
 
 /**
- * @brief Enable or disable the device firmware log.
+ * @brief Enable or disable the device firmware log. If the device does not support firmware log, an error is reported through @p error.
  *
  * @param[in] device The device object.
  * @param[in] enable Whether to enable the firmware log.
@@ -430,6 +432,27 @@ OB_EXPORT void ob_device_enable_firmware_log(ob_device *device, bool enable, ob_
  */
 OB_EXPORT bool ob_device_is_firmware_log_enabled(ob_device *device, ob_error **error);
 
+/**
+ * @brief Set the device monitor polling interval.
+ *
+ * @param[in] device The device object.
+ * @param[in] interval_ms The polling interval for device heartbeat and firmware log retrieval, in milliseconds. The valid range is [1000, 10000];
+ * values outside this range are clamped to the nearest bound. If the device does not support device monitor polling, an error is reported through @p error.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_device_set_monitor_poll_interval(ob_device *device, uint32_t interval_ms, ob_error **error);
+
+/**
+ * @brief Get the device monitor polling interval.
+ *
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return uint32_t The device monitor polling interval in milliseconds. If the device does not support device monitor polling, an error is reported
+ * through @p error.
+ */
+OB_EXPORT uint32_t ob_device_get_monitor_poll_interval(ob_device *device, ob_error **error);
+
 /**
  * @brief Synchronize the device time (synchronize hardwarePPS time to device)
  *

orbbec_camera/SDK/arm64/include/libobsensor/h/ObTypes.h

@@ -1774,6 +1774,15 @@ typedef struct {
     uint32_t factor;        ///< Decimation factor
 } OBHardwareDecimationConfig, ob_hardware_decimation_config;
 
+/**
+ * @details Defines the gain values for RGB channels.
+ */
+typedef struct {
+    uint16_t rGain;  ///< Red Channel Gain
+    uint16_t bGain;  ///< Blue Channel Gain
+    uint16_t gGain;  ///< Green Channel Gain
+} OBAwbGainParams, ob_awb_gain_params;
+
 /**
  * @brief Frame metadata types
  * @brief The frame metadata is a set of meta info generated by the device for current individual frame.

orbbec_camera/SDK/arm64/include/libobsensor/h/Property.h

@@ -682,6 +682,19 @@ typedef enum {
      */
     OB_PROP_MJPEG_QUALITY_INT = 277,
 
+    /**
+     * @brief Color AE/AWB status.
+     * @param value
+     *   - 0: Converging.
+     *          Both AE and AWB algorithms are dynamically adjusting,
+     *          and the parameters have not yet stabilized.
+     *
+     *   - 1: Dual Convergence.
+     *          Both AE and AWB algorithms have completed convergence,
+     *          and the system is in a stable imaging state.
+     */
+    OB_PROP_COLOR_AE_AWB_STATUS_INT = 287,
+
     /**
      * @brief Baseline calibration parameters
      */
@@ -789,6 +802,12 @@ typedef enum {
      */
     OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2 = 1088,
 
+    /**
+     * @brief Color AWB gain parameters
+     * @see OBAwbGainParams
+     */
+    OB_STRUCT_COLOR_AWB_GAIN = 1097,
+
     /**
      * @brief Color camera auto exposure
      */
@@ -1133,6 +1152,7 @@ typedef enum {
 #define OB_PROP_DEPTH_SOFT_FILTER_BOOL OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL
 #define OB_PROP_DEPTH_MAX_DIFF_INT OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_DIFF_INT
 #define OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_SPECKLE_SIZE_INT
+#define OB_PROP_COLOR_AE_AWB_STAT_INT OB_PROP_COLOR_AE_AWB_STATUS_INT
 
 /**
  * @brief The data type used to describe all property settings

orbbec_camera/SDK/arm64/include/libobsensor/hpp/Device.hpp

@@ -669,7 +669,9 @@ public:
 
     /**
      * @brief Enable or disable the device heartbeat.
-     * @brief After enable the device heartbeat, the sdk will start a thread to send heartbeat signal to the device error every 3 seconds.
+     *
+     * When enabled, the SDK sends heartbeat signals at the device monitor polling interval. The default interval is 3000 ms and can be adjusted with
+     * setMonitorPollInterval. If the device does not support heartbeat, an exception is thrown.
      *
      * @attention If the device does not receive the heartbeat signal for a long time, it will be disconnected and rebooted.
      *
@@ -682,7 +684,7 @@ public:
     }
 
     /**
-     * @brief Enable or disable the device firmware log.
+     * @brief Enable or disable the device firmware log. If the device does not support firmware log, an exception is thrown.
      *
      * @param[in] enable Whether to enable the firmware log.
      */
@@ -704,6 +706,31 @@ public:
         return enable;
     }
 
+    /**
+     * @brief Set the device monitor polling interval.
+     *
+     * @param[in] intervalMs The polling interval for device heartbeat and firmware log retrieval, in milliseconds. The valid range is [1000, 10000];
+     * values outside this range are clamped to the nearest bound. If the device does not support device monitor polling, an exception is thrown.
+     */
+    void setMonitorPollInterval(uint32_t intervalMs) const {
+        ob_error *error = nullptr;
+        ob_device_set_monitor_poll_interval(impl_, intervalMs, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Get the device monitor polling interval.
+     *
+     * @return uint32_t The device monitor polling interval in milliseconds.
+     * @throws Error If the device does not support device monitor polling.
+     */
+    uint32_t getMonitorPollInterval() const {
+        ob_error *error      = nullptr;
+        auto      intervalMs = ob_device_get_monitor_poll_interval(impl_, &error);
+        Error::handle(&error);
+        return intervalMs;
+    }
+
     /**
      * @brief Get the supported multi device sync mode bitmap of the device.
      * @brief For example, if the return value is 0b00001100, it means the device supports @ref OB_MULTI_DEVICE_SYNC_MODE_PRIMARY and @ref

orbbec_camera/SDK/arm64/lib/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.9.3"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.1"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.9.3" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.1" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/arm64/lib/OrbbecSDKVersion.cmake

@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.9.3")
+set(PACKAGE_VERSION "2.10.1")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.9.3" MATCHES "^([0-9]+)\\.")
+  if("2.10.1" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.9.3")
+    set(CVF_VERSION_MAJOR "2.10.1")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.9.3
+libOrbbecSDK.so.2.10.1

orbbec_camera/SDK/x64/include/libobsensor/h/Device.h

@@ -401,7 +401,9 @@ OB_EXPORT void ob_device_set_state_changed_callback(ob_device *device, ob_device
 
 /**
  * @brief Enable or disable the device heartbeat.
- * @brief After enable the device heartbeat, the sdk will start a thread to send heartbeat signal to the device error every 3 seconds.
+ *
+ * When enabled, the SDK sends heartbeat signals at the device monitor polling interval. The default interval is 3000 ms and can be adjusted with
+ * ob_device_set_monitor_poll_interval. If the device does not support heartbeat, an error is reported through @p error.
 
  * @attention If the device does not receive the heartbeat signal for a long time, it will be disconnected and rebooted.
  *
@@ -412,7 +414,7 @@ OB_EXPORT void ob_device_set_state_changed_callback(ob_device *device, ob_device
 OB_EXPORT void ob_device_enable_heartbeat(ob_device *device, bool enable, ob_error **error);
 
 /**
- * @brief Enable or disable the device firmware log.
+ * @brief Enable or disable the device firmware log. If the device does not support firmware log, an error is reported through @p error.
  *
  * @param[in] device The device object.
  * @param[in] enable Whether to enable the firmware log.
@@ -430,6 +432,27 @@ OB_EXPORT void ob_device_enable_firmware_log(ob_device *device, bool enable, ob_
  */
 OB_EXPORT bool ob_device_is_firmware_log_enabled(ob_device *device, ob_error **error);
 
+/**
+ * @brief Set the device monitor polling interval.
+ *
+ * @param[in] device The device object.
+ * @param[in] interval_ms The polling interval for device heartbeat and firmware log retrieval, in milliseconds. The valid range is [1000, 10000];
+ * values outside this range are clamped to the nearest bound. If the device does not support device monitor polling, an error is reported through @p error.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_device_set_monitor_poll_interval(ob_device *device, uint32_t interval_ms, ob_error **error);
+
+/**
+ * @brief Get the device monitor polling interval.
+ *
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return uint32_t The device monitor polling interval in milliseconds. If the device does not support device monitor polling, an error is reported
+ * through @p error.
+ */
+OB_EXPORT uint32_t ob_device_get_monitor_poll_interval(ob_device *device, ob_error **error);
+
 /**
  * @brief Synchronize the device time (synchronize hardwarePPS time to device)
  *

orbbec_camera/SDK/x64/include/libobsensor/h/ObTypes.h

@@ -1774,6 +1774,15 @@ typedef struct {
     uint32_t factor;        ///< Decimation factor
 } OBHardwareDecimationConfig, ob_hardware_decimation_config;
 
+/**
+ * @details Defines the gain values for RGB channels.
+ */
+typedef struct {
+    uint16_t rGain;  ///< Red Channel Gain
+    uint16_t bGain;  ///< Blue Channel Gain
+    uint16_t gGain;  ///< Green Channel Gain
+} OBAwbGainParams, ob_awb_gain_params;
+
 /**
  * @brief Frame metadata types
  * @brief The frame metadata is a set of meta info generated by the device for current individual frame.

orbbec_camera/SDK/x64/include/libobsensor/h/Property.h

@@ -682,6 +682,19 @@ typedef enum {
      */
     OB_PROP_MJPEG_QUALITY_INT = 277,
 
+    /**
+     * @brief Color AE/AWB status.
+     * @param value
+     *   - 0: Converging.
+     *          Both AE and AWB algorithms are dynamically adjusting,
+     *          and the parameters have not yet stabilized.
+     *
+     *   - 1: Dual Convergence.
+     *          Both AE and AWB algorithms have completed convergence,
+     *          and the system is in a stable imaging state.
+     */
+    OB_PROP_COLOR_AE_AWB_STATUS_INT = 287,
+
     /**
      * @brief Baseline calibration parameters
      */
@@ -789,6 +802,12 @@ typedef enum {
      */
     OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2 = 1088,
 
+    /**
+     * @brief Color AWB gain parameters
+     * @see OBAwbGainParams
+     */
+    OB_STRUCT_COLOR_AWB_GAIN = 1097,
+
     /**
      * @brief Color camera auto exposure
      */
@@ -1133,6 +1152,7 @@ typedef enum {
 #define OB_PROP_DEPTH_SOFT_FILTER_BOOL OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL
 #define OB_PROP_DEPTH_MAX_DIFF_INT OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_DIFF_INT
 #define OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_SPECKLE_SIZE_INT
+#define OB_PROP_COLOR_AE_AWB_STAT_INT OB_PROP_COLOR_AE_AWB_STATUS_INT
 
 /**
  * @brief The data type used to describe all property settings

orbbec_camera/SDK/x64/include/libobsensor/hpp/Device.hpp

@@ -669,7 +669,9 @@ public:
 
     /**
      * @brief Enable or disable the device heartbeat.
-     * @brief After enable the device heartbeat, the sdk will start a thread to send heartbeat signal to the device error every 3 seconds.
+     *
+     * When enabled, the SDK sends heartbeat signals at the device monitor polling interval. The default interval is 3000 ms and can be adjusted with
+     * setMonitorPollInterval. If the device does not support heartbeat, an exception is thrown.
      *
      * @attention If the device does not receive the heartbeat signal for a long time, it will be disconnected and rebooted.
      *
@@ -682,7 +684,7 @@ public:
     }
 
     /**
-     * @brief Enable or disable the device firmware log.
+     * @brief Enable or disable the device firmware log. If the device does not support firmware log, an exception is thrown.
      *
      * @param[in] enable Whether to enable the firmware log.
      */
@@ -704,6 +706,31 @@ public:
         return enable;
     }
 
+    /**
+     * @brief Set the device monitor polling interval.
+     *
+     * @param[in] intervalMs The polling interval for device heartbeat and firmware log retrieval, in milliseconds. The valid range is [1000, 10000];
+     * values outside this range are clamped to the nearest bound. If the device does not support device monitor polling, an exception is thrown.
+     */
+    void setMonitorPollInterval(uint32_t intervalMs) const {
+        ob_error *error = nullptr;
+        ob_device_set_monitor_poll_interval(impl_, intervalMs, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Get the device monitor polling interval.
+     *
+     * @return uint32_t The device monitor polling interval in milliseconds.
+     * @throws Error If the device does not support device monitor polling.
+     */
+    uint32_t getMonitorPollInterval() const {
+        ob_error *error      = nullptr;
+        auto      intervalMs = ob_device_get_monitor_poll_interval(impl_, &error);
+        Error::handle(&error);
+        return intervalMs;
+    }
+
     /**
      * @brief Get the supported multi device sync mode bitmap of the device.
      * @brief For example, if the return value is 0b00001100, it means the device supports @ref OB_MULTI_DEVICE_SYNC_MODE_PRIMARY and @ref

orbbec_camera/SDK/x64/lib/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.9.3"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.1"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.9.3" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.1" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/x64/lib/OrbbecSDKVersion.cmake

@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.9.3")
+set(PACKAGE_VERSION "2.10.1")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.9.3" MATCHES "^([0-9]+)\\.")
+  if("2.10.1" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.9.3")
+    set(CVF_VERSION_MAJOR "2.10.1")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.9.3
+libOrbbecSDK.so.2.10.1