Update SDK to 1.10.0

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

@@ -474,6 +474,53 @@ public:
     OBUint8PropertyRange getScaleRange();
 };
 
+/**
+ * @brief The edge noise removal filter,removing scattering depth pixels.
+ */
+class OB_EXTENSION_API EdgeNoiseRemovalFilter : public Filter {
+public:
+    EdgeNoiseRemovalFilter();
+
+    /**
+     * @brief Set the edge noise removal filter params.
+     *
+     * @param[in] params ob_edge_noise_removal_filter_params.
+     */
+    void setFilterParams(OBEdgeNoiseRemovalFilterParams filterParams);
+
+    /**
+     * @brief Get the edge noise removal filter params.
+     *
+     * @return OBEdgeNoiseRemovalFilterParams.
+     */
+    OBEdgeNoiseRemovalFilterParams getFilterParams();
+
+    /**
+     * @brief Get the edge noise removal filter margin left th range.
+     * @return OBUint16PropertyRange The disp diff of property range.
+     */
+    OBUint16PropertyRange getMarginLeftThRange();
+
+    /**
+     * @brief Get the edge noise removal filter margin right th range.
+     * @return OBUint16PropertyRange The max size of property range.
+     */
+    OBUint16PropertyRange getMarginRightThRange();
+
+    /**
+     * @brief Get the edge noise removal filter margin top th range.
+     * @return OBUint16PropertyRange The disp diff of property range.
+     */
+    OBUint16PropertyRange getMarginTopThRange();
+
+    /**
+     * @brief Get the edge noise removal filter margin bottom th range.
+     * @return OBUint16PropertyRange The max size of property range.
+     */
+    OBUint16PropertyRange getMarginBottomThRange();
+};
+
+
 // Define the is() template function for the Filter class
 template <typename T> bool Filter::is() {
     std::string name = type();
@@ -519,6 +566,9 @@ template <typename T> bool Filter::is() {
     if(name == "Align") {
         return typeid(T) == typeid(Align);
     }
+    if(name == "EdgeNoiseRemovalFilter") {
+        return typeid(T) == typeid(Align);
+    }
     return false;
 }
 

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

@@ -110,6 +110,14 @@ public:
      */
     uint64_t systemTimeStamp();
 
+    /**
+     * @brief Get the system timestamp of the frame in microseconds.
+     * @brief The system timestamp is the time point when the frame was received by the host, on host clock domain.
+     *
+     * @return uint64_t The system timestamp of the frame in microseconds.
+     */
+    uint64_t systemTimeStampUs();
+
     /**
      * @brief Get the global timestamp of the frame in microseconds.
      * @brief The global timestamp is the time point when the frame was was captured by the device, and has been converted to the host clock domain. The

orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp

@@ -105,7 +105,7 @@ public:
      * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
      * @param sensorType sensor type
      * @param data input data,needs to be allocated externally.During initialization, the external allocation size is 'dataSize', for example, dataSize = 1920 *
-     * 1080 * 2 (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
+     * 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
      * @param dataSize input data size
      * @param xyTables output xy tables
      *
@@ -123,5 +123,16 @@ public:
      *
      */
     static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData);
+
+    /**
+     * @brief Transform depth image to RGBD point cloud data
+     *
+     * @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
+     * @param depthImageData input depth image data
+     * @param colorImageData input color image data (only RGB888 support)
+     * @param pointCloudData output RGBD point cloud data
+     *
+     */
+    static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData);
 };
 }  // namespace ob