update OrbbecSDK version to 2.10.2

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

@@ -101,6 +101,16 @@ OB_EXPORT void ob_delete_depth_work_mode_list(ob_depth_work_mode_list *work_mode
  */
 OB_EXPORT const char *ob_device_get_current_preset_name(const ob_device *device, ob_error **error);
 
+/**
+ * @brief Get the version of the current depth work mode.
+ *
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return const char* The version string, e.g. "1.2.3". Empty string when the device does not
+ *         support versioned modes.
+ */
+OB_EXPORT const char *ob_device_get_current_preset_depth_work_mode_version(const ob_device *device, ob_error **error);
 /**
  * @brief Get the available preset list.
  * @attention After loading the preset, the settings in the preset will set to the device immediately. Therefore, it is recommended to re-read the device
@@ -113,6 +123,17 @@ OB_EXPORT const char *ob_device_get_current_preset_name(const ob_device *device,
  */
 OB_EXPORT void ob_device_load_preset(ob_device *device, const char *preset_name, ob_error **error);
 
+/**
+ * @brief Load the preset by preset name and the target depth work mode version.
+ *        When multiple presets share the same name, the version selects the exact one.
+ *
+ * @param[in] device The device object.
+ * @param[in] preset_name The preset name. The name should be one of the preset names returned by @ref ob_device_get_available_preset_list.
+ * @param[in] version The target depth work mode version string, e.g. "1.2.3". Must not be empty.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_device_load_preset_by_depth_work_mode_version(ob_device *device, const char *preset_name, const char *version, ob_error **error);
+
 /**
  * @brief Load preset from json string.
  * @brief After loading the custom preset, the settings in the custom preset will set to the device immediately.
@@ -217,6 +238,18 @@ OB_EXPORT const char *ob_device_preset_list_get_name(const ob_device_preset_list
  */
 OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *preset_list, const char *preset_name, ob_error **error);
 
+/**
+ * @brief Get the target depth work mode version of the preset at the specified index.
+ *
+ * @param[in] preset_list Data structure containing a list of presets
+ * @param[in] index Index of the target preset
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return const char* The version string of the depth work mode, e.g. "1.2.3". Empty string when the
+ *         device does not support versioned modes.
+ */
+OB_EXPORT const char *ob_device_preset_list_get_depth_work_mode_version(const ob_device_preset_list *preset_list, uint32_t index, ob_error **error);
+
 /**
  * @brief Check if the device supports the frame interleave feature.
  *

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

@@ -80,6 +80,20 @@ OB_EXPORT void ob_enable_net_device_enumeration(ob_context *context, bool enable
  */
 OB_EXPORT bool ob_force_ip_config(const char *macAddress, ob_net_ip_config config, ob_error **error);
 
+/**
+ * @brief Send a GigE Vision Action Command via GVCP.
+ *
+ * @param[in] deviceKey     Device key to match.
+ * @param[in] groupKey      Group key to match against the camera's Action blocks.
+ * @param[in] groupMask     Group mask, bitwise-ANDed with each Action block's mask.
+ * @param[in] destIp        Destination IPv4 address. NULL or "255.255.255.255" uses broadcast.
+ * @param[in] scheduledTime PTP absolute timestamp. 0 = immediate trigger, non-zero = scheduled.
+ * @param[out] error        Pointer to an error object that will be populated if an error occurs.
+ *
+ * @return bool true on success. Fire-and-forget; does not wait for camera ACK.
+ */
+OB_EXPORT bool ob_send_action_command(uint32_t deviceKey, uint32_t groupKey, uint32_t groupMask, const char *destIp, uint64_t scheduledTime, ob_error **error);
+
 /**
  * @brief Set the GVCP port scheme used for network device discovery and control.
  *

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

@@ -1578,6 +1578,12 @@ typedef enum {
      * @brief The device captures data in software synchronization mode, starting acquisition based on the system time.
      */
     OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_SYNCED = 1 << 8,
+
+    /**
+     * @brief Group actions trigger mode.
+     * @note The device waits for a GVCP ACTION_CMD matching the configured action parameters.
+     */
+    OB_MULTI_DEVICE_SYNC_MODE_GROUP_ACTIONS = 1 << 9,
 } ob_multi_device_sync_mode,
     OBMultiDeviceSyncMode;
 

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

@@ -674,6 +674,7 @@ typedef enum {
 
     /**
      * @brief Enable FPS boost in trigger mode
+     *        Not effective for devices connected via USB 2.x or lower
      */
     OB_PROP_FPS_BOOST_BOOL = 275,
 
@@ -695,6 +696,44 @@ typedef enum {
      */
     OB_PROP_COLOR_AE_AWB_STATUS_INT = 287,
 
+    /**
+     * @brief Number of Action Signal blocks supported by the device
+     */
+    OB_PROP_ACTION_SIGNAL_COUNT_INT = 296,
+
+    /**
+     * @brief Action Device Key, shared across all Action Commands
+     */
+    OB_PROP_ACTION_DEVICE_KEY_INT = 297,
+
+    /**
+     * @brief Maximum number of scheduled Action Commands that can be queued by the device
+     */
+    OB_PROP_ACTION_SCHEDULED_COMMAND_QUEUE_SIZE_INT = 298,
+
+    /**
+     * @brief Action Signal selector, 0..N-1; subsequent selector-scoped reads/writes target the selected block.
+     * @note The selector is stateful. The selector, Group Key, and Group Mask
+     *       must be written serially as one caller-controlled sequence. Do not
+     *       interleave this sequence with Action Command property operations
+     *       from another thread on the same device.
+     */
+    OB_PROP_ACTION_SELECTOR_INT = 299,
+
+    /**
+     * @brief Action Group Key for the currently selected block.
+     * @note Must be written serially with OB_PROP_ACTION_SELECTOR_INT and
+     *       OB_PROP_ACTION_GROUP_MASK_INT on the same device.
+     */
+    OB_PROP_ACTION_GROUP_KEY_INT = 300,
+
+    /**
+     * @brief Action Group Mask for the currently selected block.
+     * @note Must be written serially with OB_PROP_ACTION_SELECTOR_INT and
+     *       OB_PROP_ACTION_GROUP_KEY_INT on the same device.
+     */
+    OB_PROP_ACTION_GROUP_MASK_INT = 301,
+
     /**
      * @brief Baseline calibration parameters
      */
@@ -978,6 +1017,11 @@ typedef enum {
      */
     OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT = 2052,
 
+    /**
+     * @brief Color camera WB control
+     */
+    OB_PROP_COLOR_WB_CTRL_INT = 2053,
+
     /**
      * @brief Software disparity to depth
      */

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

@@ -157,6 +157,24 @@ public:
         return res;
     }
 
+    /**
+     * @brief Send a GigE Vision Action Command via GVCP.
+     *
+     * @param deviceKey     Device key to match.
+     * @param groupKey      Group key to match.
+     * @param groupMask     Group mask, bitwise-ANDed with Action block masks.
+     * @param destIp        Destination IPv4 address. Defaults to "255.255.255.255" for broadcast.
+     * @param scheduledTime PTP timestamp. 0 = immediate, non-zero = scheduled.
+     *
+     * @return bool true on success.
+     */
+    bool sendActionCommand(uint32_t deviceKey, uint32_t groupKey, uint32_t groupMask, const char *destIp = "255.255.255.255", uint64_t scheduledTime = 0) {
+        ob_error *error = nullptr;
+        bool      ok    = ob_send_action_command(deviceKey, groupKey, groupMask, destIp, scheduledTime, &error);
+        Error::handle(&error);
+        return ok;
+    }
+
     /**
      * @brief Set the GVCP port scheme used for network device discovery and control.
      *

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

@@ -880,6 +880,31 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief load the preset by preset name and the target depth work mode version.
+     *        The version is forwarded to the depth work mode switch when loading the preset.
+     * @param[in] presetName The preset name to set. The name should be one of the preset names returned by @ref getAvailablePresetList.
+     * @param[in] version The target depth work mode version string, e.g. "1.2.3". Must not be empty.
+     */
+    void loadPreset(const char *presetName, const char *version) const {
+        ob_error *error = nullptr;
+        ob_device_load_preset_by_depth_work_mode_version(impl_, presetName, version, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Get the version of the current depth work mode.
+     *
+     * @return const char* The version string, e.g. "1.2.3". Empty string when the device
+     *         does not support versioned modes.
+     */
+    const char *getCurrentPresetDepthWorkModeVersion() const {
+        ob_error   *error   = nullptr;
+        const char *version = ob_device_get_current_preset_depth_work_mode_version(impl_, &error);
+        Error::handle(&error);
+        return version;
+    }
+
     /**
      * @brief Get available preset list
      * @brief The available preset list usually defined by the device manufacturer and restores on the device.
@@ -1836,6 +1861,21 @@ public:
         return name;
     }
 
+    /**
+     * @brief Get the depth work mode version of the preset at the specified index
+     *
+     * @param[in] index the index of the device preset
+     *
+     * @return const char* the version string of the depth work mode, e.g. "1.2.3". Empty string
+     *         when the device does not support versioned modes.
+     */
+    const char *getDepthWorkModeVersion(uint32_t index) {
+        ob_error   *error   = nullptr;
+        const char *version = ob_device_preset_list_get_depth_work_mode_version(impl_, index, &error);
+        Error::handle(&error);
+        return version;
+    }
+
     /**
      * @brief check if the preset list contains the special name preset.
      * @param[in] name The name of the preset

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

@@ -177,8 +177,12 @@ public:
      * @return std::shared_ptr< Frame > The processed frame.
      */
     virtual std::shared_ptr<Frame> process(std::shared_ptr<const Frame> frame) const {
+        const ob_frame *frameImpl = nullptr;
+        if(frame) {
+            frameImpl = frame->getImpl();
+        }
         ob_error *error  = nullptr;
-        auto      result = ob_filter_process(impl_, frame->getImpl(), &error);
+        auto      result = ob_filter_process(impl_, frameImpl, &error);
         Error::handle(&error);
         if(!result) {
             return nullptr;
@@ -192,8 +196,12 @@ public:
      * @param[in] frame The pending frame. The processing result is returned by the callback function.
      */
     virtual void pushFrame(std::shared_ptr<Frame> frame) const {
+        const ob_frame *frameImpl = nullptr;
+        if(frame) {
+            frameImpl = frame->getImpl();
+        }
         ob_error *error = nullptr;
-        ob_filter_push_frame(impl_, frame->getImpl(), &error);
+        ob_filter_push_frame(impl_, frameImpl, &error);
         Error::handle(&error);
     }
 

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 "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.1"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.2"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.1" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.2" )
 
 # 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 "2.10.1")
+set(PACKAGE_VERSION "2.10.2")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.10.1" MATCHES "^([0-9]+)\\.")
+  if("2.10.2" 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 "2.10.1")
+    set(CVF_VERSION_MAJOR "2.10.2")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

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

@@ -1 +1 @@
-libOrbbecSDK.so.2.10.1
+libOrbbecSDK.so.2.10.2

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

@@ -101,6 +101,16 @@ OB_EXPORT void ob_delete_depth_work_mode_list(ob_depth_work_mode_list *work_mode
  */
 OB_EXPORT const char *ob_device_get_current_preset_name(const ob_device *device, ob_error **error);
 
+/**
+ * @brief Get the version of the current depth work mode.
+ *
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return const char* The version string, e.g. "1.2.3". Empty string when the device does not
+ *         support versioned modes.
+ */
+OB_EXPORT const char *ob_device_get_current_preset_depth_work_mode_version(const ob_device *device, ob_error **error);
 /**
  * @brief Get the available preset list.
  * @attention After loading the preset, the settings in the preset will set to the device immediately. Therefore, it is recommended to re-read the device
@@ -113,6 +123,17 @@ OB_EXPORT const char *ob_device_get_current_preset_name(const ob_device *device,
  */
 OB_EXPORT void ob_device_load_preset(ob_device *device, const char *preset_name, ob_error **error);
 
+/**
+ * @brief Load the preset by preset name and the target depth work mode version.
+ *        When multiple presets share the same name, the version selects the exact one.
+ *
+ * @param[in] device The device object.
+ * @param[in] preset_name The preset name. The name should be one of the preset names returned by @ref ob_device_get_available_preset_list.
+ * @param[in] version The target depth work mode version string, e.g. "1.2.3". Must not be empty.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_device_load_preset_by_depth_work_mode_version(ob_device *device, const char *preset_name, const char *version, ob_error **error);
+
 /**
  * @brief Load preset from json string.
  * @brief After loading the custom preset, the settings in the custom preset will set to the device immediately.
@@ -217,6 +238,18 @@ OB_EXPORT const char *ob_device_preset_list_get_name(const ob_device_preset_list
  */
 OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *preset_list, const char *preset_name, ob_error **error);
 
+/**
+ * @brief Get the target depth work mode version of the preset at the specified index.
+ *
+ * @param[in] preset_list Data structure containing a list of presets
+ * @param[in] index Index of the target preset
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return const char* The version string of the depth work mode, e.g. "1.2.3". Empty string when the
+ *         device does not support versioned modes.
+ */
+OB_EXPORT const char *ob_device_preset_list_get_depth_work_mode_version(const ob_device_preset_list *preset_list, uint32_t index, ob_error **error);
+
 /**
  * @brief Check if the device supports the frame interleave feature.
  *

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

@@ -80,6 +80,20 @@ OB_EXPORT void ob_enable_net_device_enumeration(ob_context *context, bool enable
  */
 OB_EXPORT bool ob_force_ip_config(const char *macAddress, ob_net_ip_config config, ob_error **error);
 
+/**
+ * @brief Send a GigE Vision Action Command via GVCP.
+ *
+ * @param[in] deviceKey     Device key to match.
+ * @param[in] groupKey      Group key to match against the camera's Action blocks.
+ * @param[in] groupMask     Group mask, bitwise-ANDed with each Action block's mask.
+ * @param[in] destIp        Destination IPv4 address. NULL or "255.255.255.255" uses broadcast.
+ * @param[in] scheduledTime PTP absolute timestamp. 0 = immediate trigger, non-zero = scheduled.
+ * @param[out] error        Pointer to an error object that will be populated if an error occurs.
+ *
+ * @return bool true on success. Fire-and-forget; does not wait for camera ACK.
+ */
+OB_EXPORT bool ob_send_action_command(uint32_t deviceKey, uint32_t groupKey, uint32_t groupMask, const char *destIp, uint64_t scheduledTime, ob_error **error);
+
 /**
  * @brief Set the GVCP port scheme used for network device discovery and control.
  *

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

@@ -1578,6 +1578,12 @@ typedef enum {
      * @brief The device captures data in software synchronization mode, starting acquisition based on the system time.
      */
     OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_SYNCED = 1 << 8,
+
+    /**
+     * @brief Group actions trigger mode.
+     * @note The device waits for a GVCP ACTION_CMD matching the configured action parameters.
+     */
+    OB_MULTI_DEVICE_SYNC_MODE_GROUP_ACTIONS = 1 << 9,
 } ob_multi_device_sync_mode,
     OBMultiDeviceSyncMode;
 

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

@@ -674,6 +674,7 @@ typedef enum {
 
     /**
      * @brief Enable FPS boost in trigger mode
+     *        Not effective for devices connected via USB 2.x or lower
      */
     OB_PROP_FPS_BOOST_BOOL = 275,
 
@@ -695,6 +696,44 @@ typedef enum {
      */
     OB_PROP_COLOR_AE_AWB_STATUS_INT = 287,
 
+    /**
+     * @brief Number of Action Signal blocks supported by the device
+     */
+    OB_PROP_ACTION_SIGNAL_COUNT_INT = 296,
+
+    /**
+     * @brief Action Device Key, shared across all Action Commands
+     */
+    OB_PROP_ACTION_DEVICE_KEY_INT = 297,
+
+    /**
+     * @brief Maximum number of scheduled Action Commands that can be queued by the device
+     */
+    OB_PROP_ACTION_SCHEDULED_COMMAND_QUEUE_SIZE_INT = 298,
+
+    /**
+     * @brief Action Signal selector, 0..N-1; subsequent selector-scoped reads/writes target the selected block.
+     * @note The selector is stateful. The selector, Group Key, and Group Mask
+     *       must be written serially as one caller-controlled sequence. Do not
+     *       interleave this sequence with Action Command property operations
+     *       from another thread on the same device.
+     */
+    OB_PROP_ACTION_SELECTOR_INT = 299,
+
+    /**
+     * @brief Action Group Key for the currently selected block.
+     * @note Must be written serially with OB_PROP_ACTION_SELECTOR_INT and
+     *       OB_PROP_ACTION_GROUP_MASK_INT on the same device.
+     */
+    OB_PROP_ACTION_GROUP_KEY_INT = 300,
+
+    /**
+     * @brief Action Group Mask for the currently selected block.
+     * @note Must be written serially with OB_PROP_ACTION_SELECTOR_INT and
+     *       OB_PROP_ACTION_GROUP_KEY_INT on the same device.
+     */
+    OB_PROP_ACTION_GROUP_MASK_INT = 301,
+
     /**
      * @brief Baseline calibration parameters
      */
@@ -978,6 +1017,11 @@ typedef enum {
      */
     OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT = 2052,
 
+    /**
+     * @brief Color camera WB control
+     */
+    OB_PROP_COLOR_WB_CTRL_INT = 2053,
+
     /**
      * @brief Software disparity to depth
      */

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

@@ -157,6 +157,24 @@ public:
         return res;
     }
 
+    /**
+     * @brief Send a GigE Vision Action Command via GVCP.
+     *
+     * @param deviceKey     Device key to match.
+     * @param groupKey      Group key to match.
+     * @param groupMask     Group mask, bitwise-ANDed with Action block masks.
+     * @param destIp        Destination IPv4 address. Defaults to "255.255.255.255" for broadcast.
+     * @param scheduledTime PTP timestamp. 0 = immediate, non-zero = scheduled.
+     *
+     * @return bool true on success.
+     */
+    bool sendActionCommand(uint32_t deviceKey, uint32_t groupKey, uint32_t groupMask, const char *destIp = "255.255.255.255", uint64_t scheduledTime = 0) {
+        ob_error *error = nullptr;
+        bool      ok    = ob_send_action_command(deviceKey, groupKey, groupMask, destIp, scheduledTime, &error);
+        Error::handle(&error);
+        return ok;
+    }
+
     /**
      * @brief Set the GVCP port scheme used for network device discovery and control.
      *

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

@@ -880,6 +880,31 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief load the preset by preset name and the target depth work mode version.
+     *        The version is forwarded to the depth work mode switch when loading the preset.
+     * @param[in] presetName The preset name to set. The name should be one of the preset names returned by @ref getAvailablePresetList.
+     * @param[in] version The target depth work mode version string, e.g. "1.2.3". Must not be empty.
+     */
+    void loadPreset(const char *presetName, const char *version) const {
+        ob_error *error = nullptr;
+        ob_device_load_preset_by_depth_work_mode_version(impl_, presetName, version, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Get the version of the current depth work mode.
+     *
+     * @return const char* The version string, e.g. "1.2.3". Empty string when the device
+     *         does not support versioned modes.
+     */
+    const char *getCurrentPresetDepthWorkModeVersion() const {
+        ob_error   *error   = nullptr;
+        const char *version = ob_device_get_current_preset_depth_work_mode_version(impl_, &error);
+        Error::handle(&error);
+        return version;
+    }
+
     /**
      * @brief Get available preset list
      * @brief The available preset list usually defined by the device manufacturer and restores on the device.
@@ -1836,6 +1861,21 @@ public:
         return name;
     }
 
+    /**
+     * @brief Get the depth work mode version of the preset at the specified index
+     *
+     * @param[in] index the index of the device preset
+     *
+     * @return const char* the version string of the depth work mode, e.g. "1.2.3". Empty string
+     *         when the device does not support versioned modes.
+     */
+    const char *getDepthWorkModeVersion(uint32_t index) {
+        ob_error   *error   = nullptr;
+        const char *version = ob_device_preset_list_get_depth_work_mode_version(impl_, index, &error);
+        Error::handle(&error);
+        return version;
+    }
+
     /**
      * @brief check if the preset list contains the special name preset.
      * @param[in] name The name of the preset

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

@@ -177,8 +177,12 @@ public:
      * @return std::shared_ptr< Frame > The processed frame.
      */
     virtual std::shared_ptr<Frame> process(std::shared_ptr<const Frame> frame) const {
+        const ob_frame *frameImpl = nullptr;
+        if(frame) {
+            frameImpl = frame->getImpl();
+        }
         ob_error *error  = nullptr;
-        auto      result = ob_filter_process(impl_, frame->getImpl(), &error);
+        auto      result = ob_filter_process(impl_, frameImpl, &error);
         Error::handle(&error);
         if(!result) {
             return nullptr;
@@ -192,8 +196,12 @@ public:
      * @param[in] frame The pending frame. The processing result is returned by the callback function.
      */
     virtual void pushFrame(std::shared_ptr<Frame> frame) const {
+        const ob_frame *frameImpl = nullptr;
+        if(frame) {
+            frameImpl = frame->getImpl();
+        }
         ob_error *error = nullptr;
-        ob_filter_push_frame(impl_, frame->getImpl(), &error);
+        ob_filter_push_frame(impl_, frameImpl, &error);
         Error::handle(&error);
     }
 

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 "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.1"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.2"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.1" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.10.2" )
 
 # 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 "2.10.1")
+set(PACKAGE_VERSION "2.10.2")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.10.1" MATCHES "^([0-9]+)\\.")
+  if("2.10.2" 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 "2.10.1")
+    set(CVF_VERSION_MAJOR "2.10.2")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

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

@@ -1 +1 @@
-libOrbbecSDK.so.2.10.1
+libOrbbecSDK.so.2.10.2