1.更新orbbecSDK 1.9.1;2.gemini2增加深度滤波配置功能;3.增加IMU同时输出topic.

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

@@ -26,9 +26,11 @@ class CameraParamList;
 class OBDepthWorkModeList;
 
 class OB_EXTENSION_API Device {
-private:
+protected:
     std::unique_ptr<DeviceImpl> impl_;
 
+    Device(Device &&device);
+
 public:
     /**
      * @brief Describe the entity of the RGBD camera, representing a specific model of RGBD camera
@@ -299,6 +301,13 @@ public:
      */
     bool isPropertySupported(OBPropertyID propertyId, OBPermissionType permission);
 
+    /**
+     * @brief Check if the global timestamp is supported for the device
+     *
+     * @return Whether the global timestamp is supported
+     */
+    bool isGlobalTimestampSupported();
+
     /**
      * @brief Upgrade the device firmware
      *
@@ -530,8 +539,20 @@ public:
      */
     void timerSyncWithHost();
 
+    /**
+     * @brief Load depth filter config from file.
+     * @param filePath Path of the config file.
+     */
+    void loadDepthFilterConfig(const char *filePath);
+
+    /**
+     * @brief Reset depth filter config to device default define.
+     */
+    void resetDefaultDepthFilterConfig();
+
     friend class Pipeline;
     friend class Recorder;
+    friend class CoordinateTransformHelper;
 };
 
 /**

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

@@ -108,6 +108,18 @@ public:
      */
     uint64_t systemTimeStamp();
 
+    /**
+     * @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
+     * conversion process base on the device timestamp and can eliminate the timer drift of the device
+     *
+     * @attention Only some devices support getting the global timestamp. If the device does not support it, this function will return 0. Check the device
+     * support status by @ref Device::isGlobalTimestampSupported() function.
+     *
+     * @return uint64_t The global timestamp of the frame in microseconds.
+     */
+    uint64_t globalTimeStampUs();
+
     /**
      * @brief Check if the runtime type of the frame object is compatible with a given type.
      *
@@ -134,6 +146,7 @@ private:
     friend class Filter;
     friend class Recorder;
     friend class FrameHelper;
+    friend class CoordinateTransformHelper;
 };
 
 class OB_EXTENSION_API VideoFrame : public Frame {

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

@@ -145,6 +145,15 @@ public:
      */
     OBCameraParam getCameraParamWithProfile(uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight);
 
+    /**
+     * @brief Get the calibration parameters
+     *
+     * @param config The configured parameters
+     *
+     * @return OBCalibrationParam The calibration parameters
+     */
+    OBCalibrationParam getCalibrationParam(std::shared_ptr<Config> config);
+
     /**
      * @brief Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution
      *
@@ -253,6 +262,15 @@ public:
      */
     void setD2CTargetResolution(uint32_t d2cTargetWidth, uint32_t d2cTargetHeight);
 
+    /**
+     * @brief Set the frame aggregation output mode for the pipeline configuration
+     * @brief The processing strategy when the FrameSet generated by the frame aggregation function does not contain the frames of all opened streams (which
+     * can be caused by different frame rates of each stream, or by the loss of frames of one stream): drop directly or output to the user.
+     *
+     * @param mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE)
+     */
+    void setFrameAggregateOutputMode(OBFrameAggregateOutputMode mode);
+
     friend class Pipeline;
 };
 

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

@@ -0,0 +1,86 @@
+/**
+ * @file Utils.hpp
+ * @brief The SDK utils class
+ *
+ */
+#pragma once
+
+#include "Types.hpp"
+
+namespace ob {
+class Device;
+
+class OB_EXTENSION_API CoordinateTransformHelper {
+public:
+    /**
+     * @brief Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint3f Source 3d point value
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint3f Target 3d point value
+     *
+     * @return bool  Transform result
+     */
+    static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
+                                  const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
+
+    /**
+     * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint2f Source 2d point value
+     * @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint3f Target 3d point value
+     *
+     * @return bool Transform result
+     */
+    static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
+                                  const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
+
+    /**
+     * @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint3f Source 3d point value
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint2f Target 2d point value
+     *
+     * @return bool Transform result
+     */
+    static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
+                                  const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
+
+    /**
+     * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint2f Source 2d point value
+     * @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint2f Target 2d point value
+     *
+     * @return bool Transform result
+     */
+    static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
+                                  const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
+
+    /**
+     * @brief Transforms the depth frame into the geometry of the color camera.
+     *
+     * @param device Device handle
+     * @param depthFrame Input depth frame
+     * @param targetColorCameraWidth Target color camera width
+     * @param targetColorCameraHeight Target color camera height
+     *
+     * @return std::shared_ptr<ob::Frame> Transformed depth frame
+     */
+    static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
+                                                                            uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);
+};
+}  // namespace ob