Big refactoring code

* Removal of unnecessary files
* Optimized multi-camera launch
* Explicitly list the parameters in the launch file

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

@@ -15,6 +15,7 @@
 
 #include <memory>
 #include <string>
+#include <vector>
 
 struct DeviceImpl;
 struct DeviceInfoImpl;
@@ -27,6 +28,7 @@ class Context;
 class DeviceInfo;
 class Sensor;
 class CameraParamList;
+class OBDepthWorkModeList;
 
 class OB_EXTENSION_API Device {
 private:
@@ -407,6 +409,66 @@ public:
      */
     void getStructuredData(OBPropertyID propertyId, void *data, uint32_t *dataSize);
 
+    /**
+     * \if English
+     * @brief Get structured data type of device property
+     *
+     * @param propertyId Property id
+     * @param dataBundle Target data
+     * @param callback Callback of setting
+     * \else
+     * @brief Set the Structured Data Ext object
+     *
+     * @param propertyId 属性id
+     * @param dataBundle 设置的目标数据
+     * @param callback 设置数据回调
+     * \endif
+     */
+    void setStructuredDataExt(OBPropertyID propertyId, std::shared_ptr<OBDataBundle> dataBundle, SetDataCallback callback);
+
+    /**
+     * \if English
+     * @brief Get structured data type of device property
+     *
+     * @param propertyId Property id
+     * @return Data bundle
+     * \else
+     * @brief 获取structured data类型的数据
+     *
+     * @param propertyId 属性id
+     * @return std::shared_ptr<OBDataBundle> 数据集
+     * \endif
+     */
+    std::shared_ptr<OBDataBundle> getStructuredDataExt(OBPropertyID propertyId);
+
+    /**
+     * \if English
+     * @brief Get the property protocol version
+     * 
+     * @return OBProtocolVersion
+     * \else
+     * @brief 获取设备的控制命令协议版本
+     *
+     * @return OBProtocolVersion
+     * \endif
+     */
+    OBProtocolVersion getProtocolVersion();
+
+    /**
+     * \if English
+     * @brief Get cmdVersion of property
+     *
+     * @param propertyId Property id
+     * @return OBCmdVersion
+     * \else
+     * @brief 获取控制命令的版本号
+     *
+     * @param propertyId 属性id
+     * @return OBCmdVersion
+     * \endif
+     */
+    OBCmdVersion getCmdVersion(OBPropertyID propertyId);
+
     /**
      * \if English
      * @brief Get number of devices supported property
@@ -563,6 +625,61 @@ public:
      */
     std::shared_ptr<CameraParamList> getCalibrationCameraParamList();
 
+    /**
+     * \if English
+     * @brief Get current depth work mode
+     * 
+     * @return ob_depth_work_mode Current depth work mode
+     * \else
+     * @brief 查询当前的相机深度模式
+     *
+     * @return 返回当前的相机深度模式
+     * \endif
+     */
+    OBDepthWorkMode getCurrentDepthWorkMode();
+
+    /**
+     * \if English
+     * @brief Switch depth work mode by OBDepthWorkMode. Prefer invoke switchDepthWorkMode(const char *modeName) to switch depth mode
+     *        when known the complete name of depth work mode.
+     * @param[in] workMode Depth work mode come from ob_depth_work_mode_list which return by ob_device_get_depth_work_mode_list
+     * \else
+     * @brief 切换相机深度模式（根据深度工作模式对象），如果知道设备支持的深度工作模式名称，那么推荐用switchDepthWorkMode(const char *modeName)
+     *
+     * @param workMode 要切换的相机深度模式
+     *
+     * @return 返回指令是否切换成功
+     * \endif
+     */
+    OBStatus switchDepthWorkMode(const OBDepthWorkMode &workMode);
+
+    /**
+     * \if English
+     * @brief Switch depth work mode by work mode name.
+     * 
+     * @param[in] mode name Depth work mode name which equals to ob_depth_work_mode.name
+     * \else
+     * @brief 切换相机深度模式（根据深度工作模式名称）
+     *
+     * @param workMode 
+     *
+     * @return ob_status 设置设置结果，OB_STATUS_OK成功，其他：设置失败
+     * \endif
+     */
+    OBStatus switchDepthWorkMode(const char *modeName);
+
+    /**
+     * \if English
+     * @brief Request support depth work mode list
+     * @return OBDepthWorkModeList list of ob_depth_work_mode
+     * \else
+     * @brief 查询相机深度模式列表
+     *
+     * @return 相机深度模式列表
+     * \endif
+     */
+    std::shared_ptr<OBDepthWorkModeList> getDepthWorkModeList();
+
     /**
      * \if English
      * @brief Device restart
@@ -576,6 +693,24 @@ public:
      */
     void reboot();
 
+    /**
+     * @brief 获取当前设备同步配置
+     * @brief 设备同步：包括单机内的不同 Sensor 的曝光同步功能 和 多机同步功能
+     *
+     * @return OBDeviceSyncConfig 返回设备同步配置
+     */
+    OBDeviceSyncConfig getSyncConfig();
+
+    /**
+     * @brief 设置设备同步配置
+     * @brief 用于配置 单机内的不同 Sensor 的曝光同步功能 和 多机同步功能
+     *
+     * @attention 调用本函数会直接将配置写入设备Flash，设备重启后依然会生效。为了避免影响Flash寿命，不要频繁更新配置。
+     *
+     * @param[out] deviceSyncConfig 设备同步配置
+     */
+    void setSyncConfig(const OBDeviceSyncConfig &deviceSyncConfig);
+
     friend class Pipeline;
     friend class Recorder;
 };
@@ -934,4 +1069,79 @@ public:
     OBCameraParam getCameraParam(uint32_t index);
 };
 
+/**
+ * \if English
+ * @brief Type contain list of OBDepthWorkMode
+ * \else
+ * @brief 相机深度模式列表
+ * \endif
+ *
+ */
+class OB_EXTENSION_API OBDepthWorkModeList {
+private:
+    std::unique_ptr<OBDepthWorkModeListImpl> impl_;
+
+public:
+    OBDepthWorkModeList(std::unique_ptr<OBDepthWorkModeListImpl> impl_);
+    ~OBDepthWorkModeList();
+    /**
+     * \if English
+     * @brief Get the count of OBDepthWorkMode
+     * 
+     * @return Count of OBDepthWorkMode
+     * \else
+     * @brief 获取相机深度模式的数量
+     *
+     * @return 列表中的相机深度模式数量
+     * \endif
+     */
+    uint32_t count();
+
+    /**
+     * \if English
+     * @brief Get OBDepthWorkMode at index in OBDepthWorkModeList
+     * 
+     * @param[in] index Target OBDepthWorkMode's index
+     * 
+     * @return OBDepthWorkMode at index
+     * \else
+     * @brief 根据下标获取相机深度模式
+     *
+     * @param index 对应模式列表的下标
+     * @return 相机深度模式
+     * \endif
+     */
+    OBDepthWorkMode getOBDepthWorkMode(uint32_t index);
+
+    /**
+     * \if English
+     * @brief Get depth work mode name at index
+     * 
+     * @return Depth work mode name 
+     * \else
+     * @brief 模式名称
+     *
+     * @param index 对应模式列表的下标
+     * @return 模式名称
+     * \endif
+     */
+    std::string getName(uint32_t index);
+
+    /**
+     * \if English
+     * @brief Get OBDepthWorkMode at index in OBDepthWorkModeList
+     * 
+     * @param[in] index Target OBDepthWorkMode's index
+     * 
+     * @return OBDepthWorkMode at index
+     * \else
+     * @brief 运算符重载，根据下标获取相机深度模式
+     *
+     * @param index 对应模式列表的下标
+     * @return 相机深度模式
+     * \endif
+     */
+    OBDepthWorkMode operator[](uint32_t index);
+};
+
 }  // namespace ob

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

@@ -123,28 +123,34 @@ public:
     void setFrameAlignState(bool state);
 
     /**
-	 * \if English
-	 * @brief  Set point cloud position data scale ratio
+     * \if English
+     * @brief  Set the point cloud coordinate data zoom factor
      *
-     * @param scale scale ratio
-	 * \else
+     * @attention Calling this function to set the scale will change the point coordinate scaling factor of the output point cloud frame: posScale = posScale /
+     * scale.The point coordinate scaling factor for the output point cloud frame can be obtained via @ref PointsFrame::getPositionValueScale function
+     *
+     * @param scale Zoom factor
+     * \else
      * @brief  设置点云坐标数据缩放比例
      *
+     * @attention 调用该函数设置缩放比例会改变输出点云帧的点坐标缩放系数：posScale = posScale / scale;
+     *  输出点云帧的点坐标缩放系数可通过 @ref PointsFrame::getPositionValueScale 函数获取
+     *
      * @param scale 缩放比例
-	 * \endif
+     * \endif
      */
     void setPositionDataScaled(float scale);
 
     /**
-	 * \if English
-	 * @brief  Set point cloud color data normalization
+     * \if English
+     * @brief  Set point cloud color data normalization
      *
-     * @param state Whether to normalize
-	 * \else
+     * @param state Whether normalization is required
+     * \else
      * @brief  设置点云颜色数据归一化
      *
      * @param state 是否需要归一化
-	 * \endif
+     * \endif
      */
     void setColorDataNormalization(bool state);
 };
@@ -165,4 +171,29 @@ public:
      */
     void setFormatConvertType(OBConvertFormat type);
 };
-}  // namespace ob
+
+class OB_EXTENSION_API CompressionFilter : public Filter {
+public:
+    CompressionFilter();
+    /**
+     * \if English
+     * @brief Set compression params
+     *
+     * @param mode Compression mode OB_COMPRESSION_LOSSLESS or OB_COMPRESSION_LOSSY
+     * @param params Compression params, when mode is OB_COMPRESSION_LOSSLESS, params is NULL
+     * \else
+     * @brief 设置压缩参数
+     *
+     * @param mode 压缩模式 OB_COMPRESSION_LOSSLESS or OB_COMPRESSION_LOSSY
+     * @param params 压缩参数, 当mode为OB_COMPRESSION_LOSSLESS时，params为NULL
+     * \endif
+     */
+    void setCompressionParams(OBCompressionMode mode, void *params);
+};
+
+class OB_EXTENSION_API DecompressionFilter : public Filter {
+public:
+    DecompressionFilter();
+};
+
+}  // namespace ob

orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp

@@ -13,6 +13,7 @@
 #include "Types.hpp"
 
 #include <memory>
+#include <iostream>
 #include <typeinfo>
 
 /**
@@ -26,7 +27,10 @@
  *       +--+------+---------+
  *      |          |         |
  *  ColorFrame DepthFrame IRFrame
- *
+ *                           |
+ *                     +-----+-----+
+ *                     |           |
+ *                IRLeftFrame IRRightFrame
  */
 
 struct FrameImpl;
@@ -280,17 +284,15 @@ public:
 
     /**
      * \if English
-     * @brief Get the value scale of the depth frame, the unit is mm/step,
-     *        such as valueScale=0.1, and a certain coordinate pixel value is pixelValue=10000,
-     *        then the depth value value = pixelValue*valueScale = 10000*0.1=1000mm.
+     * @brief Get the value scale of the depth frame. The pixel value of depth frame is multiplied by the scale to give a depth value in millimeter.
+     *      such as valueScale=0.1, and a certain coordinate pixel value is pixelValue=10000, then the depth value = pixelValue*valueScale = 10000*0.1=1000mm。
      *
-     * @return float
+     * @return float scale
      * \else
-     * @brief 获取深度帧的值刻度，单位为 mm/step，
-     *      如valueScale=0.1, 某坐标像素值为pixelValue=10000，
+     * @brief 获取深度帧的值缩放系数，深度像素值乘以缩放系数后，可以得到单位为毫米的深度值； 如valueScale=0.1, 某坐标像素值为pixelValue=10000，
      *     则表示深度值value = pixelValue*valueScale = 10000*0.1=1000mm。
      *
-     * @return float
+     * @return float 缩放系数
      * \endif
      */
     float getValueScale();
@@ -300,12 +302,33 @@ class OB_EXTENSION_API IRFrame : public VideoFrame {
 public:
     IRFrame(Frame &frame);
     virtual ~IRFrame() noexcept {};
+
+public:
+    OBSensorType getDataSource();
 };
 
 class OB_EXTENSION_API PointsFrame : public Frame {
 public:
     PointsFrame(Frame &frame);
     ~PointsFrame() noexcept {};
+
+    /**
+     * \if English
+     * @brief Get the point position value scale of the points frame. the point position value of points frame is multiplied by the scale to give a position
+     * value in millimeter. such as scale=0.1, The x-coordinate value of a point is x = 10000, which means that the actual x-coordinate value = x*scale =
+     * 10000*0.1 = 1000mm.
+     *
+     * @param[in] frame Frame object
+     * @param[out] error Log error messages
+     * @return float position value scale
+     * \else
+     * @brief 获取点云帧的点坐标值缩放系数，点坐标值乘以缩放系数后，可以得到单位为毫米的坐标值； 如scale=0.1, 某个点的x坐标值为x=10000，
+     *     则表示实际x坐标value = x*scale = 10000*0.1=1000mm。
+     *
+     * @return float 缩放系数
+     * \endif
+     */
+    float getPositionValueScale();
 };
 
 class OB_EXTENSION_API FrameSet : public Frame {
@@ -393,7 +416,7 @@ public:
      * @return std::shared_ptr<Frame> 返回相应类型的帧
      * \endif
      */
-    std::shared_ptr<Frame> getFrame(OBSensorType sensorType);
+    std::shared_ptr<Frame> getFrame(OBFrameType frameType);
 
     friend class Pipeline;
     friend class Filter;
@@ -523,6 +546,8 @@ public:
 
 template <typename T> bool Frame::is() {
     switch(this->type()) {
+    case OB_FRAME_IR_LEFT:   // follow
+    case OB_FRAME_IR_RIGHT:  // follow
     case OB_FRAME_IR:
         return (typeid(T) == typeid(IRFrame) || typeid(T) == typeid(VideoFrame));
     case OB_FRAME_DEPTH:
@@ -538,6 +563,7 @@ template <typename T> bool Frame::is() {
     case OB_FRAME_POINTS:
         return (typeid(T) == typeid(PointsFrame));
     default:
+        std::cout << "ob::Frame::is() not catch frame type: " << (int)this->type() << std::endl;
         break;
     }
     return false;

orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp

@@ -230,13 +230,13 @@ public:
     std::shared_ptr<StreamProfileList> getD2CDepthProfileList(std::shared_ptr<StreamProfile> colorProfile, OBAlignMode alignMode);
 
     /**
-	 * \if English
-	 * @brief Get valid area between minimum distance and maximum distance after D2C
+     * \if English
+     * @brief Get valid area between minimum distance and maximum distance after D2C
      *
      * @param minimumDistance minimum working distance
      * @param maximumDistance maximum working distance
      * @return OBRect returns the area information valid after D2C at the working distance
-	 * \else
+     * \else
      * @brief 获取D2C后给定工作范围的有效区域
      * 如果需要获取指定距离D2C后的ROI区域，将minimum_distance与maximum_distance设置成一样或者将maximum_distance设置成0
      *
@@ -245,7 +245,7 @@ public:
      * @return OBRect 返回在工作距离下D2C后有效的区域信息
      * \endif
      */
-    OBRect getD2CValidArea(uint32_t minimumDistance,uint32_t maximumDistance = 0);
+    OBRect getD2CValidArea(uint32_t minimumDistance, uint32_t maximumDistance = 0);
 
     /**
      * \if English
@@ -346,33 +346,34 @@ public:
     void setAlignMode(OBAlignMode mode);
 
     /**
-	 * \if English
-	 * @brief Whether scale depth frame after D2C
+     * \if English
+     * @brief Whether the depth needs to be scaled after setting D2C
      *
-     * @param enable Scale or not
-	 * \else
+     * @param enable Whether scaling is required
+     * \else
      * @brief 设置D2C后是否需要缩放深度
      *
      * @param enable 是否需要缩放
-	 * \endif
+     * \endif
      */
     void setDepthScaleRequire(bool enable);
 
     /**
-	 * \if English
-	 * @brief
-     *
-     * @param d2cTargetWidth  D2C target width
-     * @param d2cTargetHeight D2C target height
-	 * \else
+     * \if English
+     * @brief Set the D2C target resolution, which is applicable to cases where the Color stream is not enabled using the OrbbecSDK and the depth needs to be
+     * D2C Note: When you use OrbbecSDK to enable the Color stream, you also use this interface to set the D2C target resolution. The configuration of the
+     * enabled Color stream is preferred for D2C.
+     * @param d2cTargetWidth  The D2C target has a wide resolution
+     * @param d2cTargetHeight The D2C target has a high resolutio
+     * \else
      * @brief 设置D2C目标分辨率，适用于未使用OrbbecSDK开启Color流，且需要对深度进行D2C的情况
      * 注意:当使用OrbbecSDK开启Color流时，同时使用了此接口设置了D2C目标分辨率时。优先使用开启的Color流的配置进行D2C。
      *
      * @param d2cTargetWidth  D2C目标分辨率宽
      * @param d2cTargetHeight D2C目标分辨率高
-	 * \endif
+     * \endif
      */
-    void setD2CTargetResolution(uint32_t d2cTargetWidth,uint32_t d2cTargetHeight);
+    void setD2CTargetResolution(uint32_t d2cTargetWidth, uint32_t d2cTargetHeight);
 
     friend class Pipeline;
 };

orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp

@@ -1,5 +1,6 @@
 /**
  * \if English
+ *
  * @file RecordPlayback.hpp
  * @brief For recording and playback functions
  * \else

orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp

@@ -11,6 +11,7 @@
 
 #include "Types.hpp"
 
+#include <iostream>
 #include <memory>
 
 struct StreamProfileImpl;
@@ -43,7 +44,7 @@ public:
      * @return OBFormat 返回流的格式
      * \endif
      */
-    OBFormat format();
+    OBFormat format() const;
     /**
      * \if English
      * @brief Get the type of stream
@@ -55,7 +56,7 @@ public:
      * @return OBStreamType 返回流的类型
      * \endif
      */
-    OBStreamType type();
+    OBStreamType type() const;
 
     /**
      * \if English
@@ -113,7 +114,7 @@ public:
      * @return uint32_t 返回流的帧率
      * \endif
      */
-    uint32_t fps();
+    uint32_t fps() const;
     /**
      * \if English
      * @brief Get stream width
@@ -125,7 +126,7 @@ public:
      * @return uint32_t 返回流的宽
      * \endif
      */
-    uint32_t width();
+    uint32_t width() const;
     /**
      * \if English
      * @brief Get stream height
@@ -137,7 +138,7 @@ public:
      * @return uint32_t 返回流的高
      * \endif
      */
-    uint32_t height();
+    uint32_t height() const;
 };
 
 class OB_EXTENSION_API AccelStreamProfile : public StreamProfile {
@@ -156,7 +157,7 @@ public:
      * @return OBAccelFullScaleRange  返回量程范围值
      * \endif
      */
-    OBAccelFullScaleRange fullScaleRange();
+    OBAccelFullScaleRange fullScaleRange() const;
 
     /**
      * \if English
@@ -169,7 +170,7 @@ public:
      * @return OBAccelFullScaleRange  返回采样频率
      * \endif
      */
-    OBAccelSampleRate sampleRate();
+    OBAccelSampleRate sampleRate() const;
 };
 
 class OB_EXTENSION_API GyroStreamProfile : public StreamProfile {
@@ -188,7 +189,7 @@ public:
      * @return OBAccelFullScaleRange  返回量程范围值
      * \endif
      */
-    OBGyroFullScaleRange fullScaleRange();
+    OBGyroFullScaleRange fullScaleRange() const;
 
     /**
      * \if English
@@ -201,13 +202,15 @@ public:
      * @return OBAccelFullScaleRange  返回采样频率
      * \endif
      */
-    OBGyroSampleRate sampleRate();
+    OBGyroSampleRate sampleRate() const;
 };
 
 template <typename T> bool StreamProfile::is() {
     switch(this->type()) {
     case OB_STREAM_VIDEO:
     case OB_STREAM_IR:
+    case OB_STREAM_IR_LEFT:
+    case OB_STREAM_IR_RIGHT:
     case OB_STREAM_COLOR:
     case OB_STREAM_DEPTH:
         return typeid(T) == typeid(VideoStreamProfile);
@@ -240,7 +243,7 @@ public:
      * @return uint32_t 返回StreamProfile的数量
      * \endif
      */
-    uint32_t count();
+    uint32_t count() const;
 
     /**
      * \if English
@@ -280,4 +283,4 @@ public:
     const std::shared_ptr<VideoStreamProfile> getVideoStreamProfile(int width = 0, int height = 0, OBFormat format = OB_FORMAT_UNKNOWN, int fps = 0);
 };
 
-}  // namespace ob
+}  // namespace ob