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Update sdk to v2.2.8 and replace Repeat using clean IR video and speckle depth video with skip frame

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datean
2025-03-17 18:13:34 +08:00
parent 9caaa78c0a
commit 2c0fa34988
29 changed files with 242 additions and 107 deletions
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orbbec_camera/SDK/include/libobsensor/h/Context.h
+1
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@@ -77,6 +77,7 @@ OB_EXPORT ob_device *ob_create_net_device(ob_context *context, const char *addre
/**
* @brief Set a device plug-in callback function
* @attention The added and removed device lists returned through the callback interface need to be released manually
* @attention This function supports multiple callbacks. Each call to this function adds a new callback to an internal list.
*
* @param[in] context Pointer to the context object
* @param[in] callback Pointer to the callback function triggered when a device is plugged or unplugged
orbbec_camera/SDK/include/libobsensor/h/Device.h
+13
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@@ -241,6 +241,19 @@ OB_EXPORT void ob_device_update_firmware(ob_device *device, const char *path, ob
OB_EXPORT void ob_device_update_firmware_from_data(ob_device *device, const uint8_t *data, uint32_t data_size, ob_device_fw_update_callback callback,
bool async, void *user_data, ob_error **error);
/**
* @brief Update the device optional depth presets.
*
* @param[in] device The device object.
* @param[in] file_path_list A list(2D array) of preset file paths, each up to OB_PATH_MAX characters.
* @param[in] path_count The number of the preset file paths.
* @param[in] callback The preset upgrade progress callback.
* @param[in] user_data User-defined data that will be returned in the callback.
* @param[out] error Pointer to an error object that will be set if an error occurs.
*/
OB_EXPORT void ob_device_update_optional_depth_presets(ob_device *device, const char file_path_list[][OB_PATH_MAX], uint8_t path_count,
ob_device_fw_update_callback callback, void *user_data, ob_error **error);
/**
* @brief Device reboot
* @attention The device will be disconnected and reconnected. After the device is disconnected, the interface access to the device handle may be abnormal.
orbbec_camera/SDK/include/libobsensor/h/Frame.h
+1 -2
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@@ -629,7 +629,7 @@ OB_EXPORT void ob_frameset_push_frame(ob_frame *frameset, const ob_frame *frame,
#define ob_gyro_frame_temperature ob_gyro_frame_get_temperature
#define ob_frameset_get_frame_count ob_frameset_get_count
#define ob_frame_time_stamp(frame, err) (ob_frame_get_timestamp_us(frame, err))
#define ob_frame_time_stamp(frame, err) (ob_frame_get_timestamp_us(frame, err) / 1000)
#define ob_frame_system_time_stamp(frame, err) (ob_frame_get_system_timestamp_us(frame, err))
#define ob_frame_set_system_time_stamp(frame, system_timestamp, err) (ob_frame_set_system_timestamp_us(frame, system_timestamp * 1000, err))
#define ob_frame_set_device_time_stamp(frame, device_timestamp, err) (ob_frame_set_timestamp_us(frame, device_timestamp * 1000, err))
@@ -637,4 +637,3 @@ OB_EXPORT void ob_frameset_push_frame(ob_frame *frameset, const ob_frame *frame,
#ifdef __cplusplus
}
#endif
orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+74 -14
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@@ -49,6 +49,11 @@ typedef struct ob_device_frame_interleave_list_t ob_device_frame_interleave_list
#define OB_GYRO_FULL_SCALE_RANGE_ANY OB_GYRO_FS_UNKNOWN
#define OB_GYRO_SAMPLE_RATE_ANY OB_SAMPLE_RATE_UNKNOWN
/**
* @brief maximum path length
*/
#define OB_PATH_MAX (1024)
/**
* @brief the permission type of api or property
*/
@@ -238,20 +243,24 @@ typedef enum {
* @brief Enumeration value describing the firmware upgrade status
*/
typedef enum {
STAT_VERIFY_SUCCESS = 5, /**< Image file verifify success */
STAT_FILE_TRANSFER = 4, /**< file transfer */
STAT_DONE = 3, /**< update completed */
STAT_IN_PROGRESS = 2, /**< upgrade in process */
STAT_START = 1, /**< start the upgrade */
STAT_VERIFY_IMAGE = 0, /**< Image file verification */
ERR_VERIFY = -1, /**< Verification failed */
ERR_PROGRAM = -2, /**< Program execution failed */
ERR_ERASE = -3, /**< Flash parameter failed */
ERR_FLASH_TYPE = -4, /**< Flash type error */
ERR_IMAGE_SIZE = -5, /**< Image file size error */
ERR_OTHER = -6, /**< other errors */
ERR_DDR = -7, /**< DDR access error */
ERR_TIMEOUT = -8 /**< timeout error */
STAT_DONE_WITH_DUPLICATES = 6, /**< update completed, but some files were duplicated and ignored */
STAT_VERIFY_SUCCESS = 5, /**< Image file verifify success */
STAT_FILE_TRANSFER = 4, /**< file transfer */
STAT_DONE = 3, /**< update completed */
STAT_IN_PROGRESS = 2, /**< upgrade in process */
STAT_START = 1, /**< start the upgrade */
STAT_VERIFY_IMAGE = 0, /**< Image file verification */
ERR_VERIFY = -1, /**< Verification failed */
ERR_PROGRAM = -2, /**< Program execution failed */
ERR_ERASE = -3, /**< Flash parameter failed */
ERR_FLASH_TYPE = -4, /**< Flash type error */
ERR_IMAGE_SIZE = -5, /**< Image file size error */
ERR_OTHER = -6, /**< other errors */
ERR_DDR = -7, /**< DDR access error */
ERR_TIMEOUT = -8, /**< timeout error */
ERR_MISMATCH = -9, /**< Mismatch firmware error */
ERR_UNSUPPORT_DEV = -10, /**< Unsupported device error */
ERR_INVALID_COUNT = -11, /**< invalid firmware/preset count */
} OBUpgradeState,
OBFwUpdateState, ob_upgrade_state, ob_fw_update_state;
@@ -855,6 +864,11 @@ typedef enum {
*/
OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER = 0x07,
/**
* @brief IR and IMU sync signal
*/
OB_SYNC_MODE_IR_IMU_SYNC = 0x08,
/**
* @brief Unknown type
*/
@@ -920,6 +934,16 @@ typedef struct {
uint16_t deviceId;
} OBDeviceSyncConfig, ob_device_sync_config, OB_DEVICE_SYNC_CONFIG;
/**
* @brief Preset tag
*/
typedef enum {
OB_DEVICE_DEPTH_WORK_MODE = 0,
OB_CUSTOM_DEPTH_WORK_MODE = 1,
} OBDepthWorkModeTag,
ob_depth_work_mode_tag;
/**
* @brief Depth work mode
*/
@@ -933,6 +957,11 @@ typedef struct {
* @brief Name of work mode
*/
char name[32];
/**
* @brief Preset tag
*/
OBDepthWorkModeTag tag;
} OBDepthWorkMode, ob_depth_work_mode;
/**
@@ -1128,6 +1157,12 @@ typedef enum {
* @attention In this mode, the user may return null when getting the specified type of data frame from the acquired FrameSet
*/
OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION,
/**
* @brief Disable Frame Aggreate
*
* @attention In this mode, All types of data frames will output independently.
*/
OB_FRAME_AGGREGATE_OUTPUT_DISABLE,
} OB_FRAME_AGGREGATE_OUTPUT_MODE,
OBFrameAggregateOutputMode, ob_frame_aggregate_output_mode;
#define OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE
@@ -1240,6 +1275,11 @@ typedef enum {
*/
OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING = 1 << 6,
/**
* @brief IR and IMU sync mode
*/
OB_MULTI_DEVICE_SYNC_MODE_IR_IMU_SYNC = 1 << 7,
} ob_multi_device_sync_mode,
OBMultiDeviceSyncMode;
@@ -1405,6 +1445,16 @@ typedef struct {
char numberStr[16];
} OBDeviceSerialNumber, ob_device_serial_number, OBSerialNumber, ob_serial_number;
/**
* @brief Disparity offset interleaving configuration
*/
typedef struct {
uint8_t enable;
uint8_t offset0;
uint8_t offset1;
uint8_t reserved;
} OBDispOffsetConfig, ob_disp_offset_config;
/**
* @brief Frame metadata types
* @brief The frame metadata is a set of meta info generated by the device for current individual frame.
@@ -1588,6 +1638,16 @@ typedef enum {
*/
OB_FRAME_METADATA_TYPE_GPIO_INPUT_DATA = 31,
/**
* @brief disparity search offset value
*/
OB_FRAME_METADATA_TYPE_DISPARITY_SEARCH_OFFSET = 32,
/**
* @brief disparity search range
*/
OB_FRAME_METADATA_TYPE_DISPARITY_SEARCH_RANGE = 33,
/**
* @brief The number of frame metadata types, using for types iterating
* @attention It is not a valid frame metadata type
orbbec_camera/SDK/include/libobsensor/h/Property.h
+50 -1
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@@ -1,4 +1,4 @@
// Copyright (c) Orbbec Inc. All Rights Reserved.
// Copyright (c) Orbbec Inc. All Rights Reserved.
// Licensed under the MIT License.
/**
@@ -440,6 +440,29 @@ typedef enum {
*/
OB_PROP_DISP_SEARCH_RANGE_MODE_INT = 191,
/**
* @brief Laser high temperature protection
*/
OB_PROP_LASER_HIGH_TEMPERATURE_PROTECT_BOOL = 193,
/**
* @brief low exposure laser control
*
* @brief Currently using for DabaiA device,if the exposure value is lower than a certain threshold, the laser is turned off;
* if it exceeds another threshold, the laser is turned on again.
*/
OB_PROP_LOW_EXPOSURE_LASER_CONTROL_BOOL = 194,
/**
* @brief check pps sync in signal
*/
OB_PROP_CHECK_PPS_SYNC_IN_SIGNAL_BOOL = 195,
/**
* @brief Disparity search range offset, range: [0, 127]
*/
OB_PROP_DISP_SEARCH_OFFSET_INT = 196,
/**
* @brief Repower device (cut off power and power on again)
*
@@ -460,7 +483,24 @@ typedef enum {
* @brief laser pattern sync with delay(us)
*/
OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT = 206,
/**
* @brief Get the health check result from device,range is [0.0f,1.5f]
*/
OB_PROP_ON_CHIP_CALIBRATION_HEALTH_CHECK_FLOAT = 209,
/**
* @brief Enable or disable on-chip calibration
*/
OB_PROP_ON_CHIP_CALIBRATION_ENABLE_BOOL = 210,
/**
* @brief hardware noise remove filter switch
*/
OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL = 211,
/**
* @brief hardware noise remove filter threshold ,range [0.0 - 1.0]
*/
OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT = 212,
/**
* @brief Baseline calibration parameters
*/
@@ -545,6 +585,11 @@ typedef enum {
*/
OB_STRUCT_ASIC_SERIAL_NUMBER = 1063,
/**
* @brief Disparity offset interleaving
*/
OB_STRUCT_DISP_OFFSET_CONFIG = 1064,
/**
* @brief Color camera auto exposure
*/
@@ -704,6 +749,10 @@ typedef enum {
* @brief Color camera FOCUS
*/
OB_PROP_COLOR_FOCUS_INT = 2038,
/**
* @brief ir rectify status,true: ir rectify, false: no rectify
*/
OB_PROP_IR_RECTIFY_BOOL = 2040,
/**
* @brief Depth camera priority
orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp
+1
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@@ -113,6 +113,7 @@ public:
/**
* @brief Set the device plug-in callback function.
* @attention This function supports multiple callbacks. Each call to this function adds a new callback to an internal list.
*
* @param callback The function triggered when the device is plugged and unplugged.
*/
orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp
+14
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@@ -383,6 +383,20 @@ public:
Error::handle(&error);
}
/**
* @brief Update the device optional depth presets
*
* @param filePathList A list(2D array) of preset file paths, each up to OB_PATH_MAX characters.
* @param pathCount The number of the preset file paths.
* @param callback Preset update progress and status callback
*/
void updateOptionalDepthPresets(const char filePathList[][OB_PATH_MAX], uint8_t pathCount, DeviceFwUpdateCallback callback) {
ob_error *error = nullptr;
fwUpdateCallback_ = callback;
ob_device_update_optional_depth_presets(impl_, filePathList, pathCount, &Device::firmwareUpdateCallback, this, &error);
Error::handle(&error);
}
/**
* @brief Set the device state changed callbacks
*
orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
+3 -1
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@@ -957,7 +957,9 @@ private:
static void BufferDestroy(uint8_t *buffer, void *context) {
auto *ctx = static_cast<BufferDestroyContext *>(context);
ctx->callback(buffer);
if (ctx->callback) {
ctx->callback(buffer);
}
delete ctx;
}
};