Update Lidar SDK version to v2.4.3

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

@@ -720,6 +720,34 @@ public:
     }
 };
 
+/**
+ * @brief Define the LiDARPointsFrame class, which inherits from the Frame class
+ * @brief The LiDARPointsFrame class is used to obtain LiDAR point cloud data.
+ *
+ * @note The pointcloud data format can be obtained from the @ref Frame::getFormat() function. Witch can be one of the following formats:
+ * - @ref OB_FORMAT_LIDAR_POINT: @ref OBLiDARPoint
+ * - @ref OB_FORMAT_LIDAR_SPHERE_POINT: @ref OBLiDARSpherePoint
+ * - @ref OB_FORMAT_LIDAR_SCAN: @ref OBLiDARScanPoint
+ * - @ref OB_FORMAT_LIDAR_CALIBRATION: LiDAR calibration mode point cloud, raw data
+ * - The pointcloud data holds a set of points. To find the number of points, divide the dataSize by the structure
+ * size of the corresponding point type.
+ */
+class LiDARPointsFrame : public Frame {
+public:
+    /**
+     * @brief Construct a new LiDARPointsFrame object with a given pointer to the internal frame object.
+     *
+     * @attention After calling this constructor, the frame object will own the internal frame object, and the internal frame object will be deleted when the
+     * frame object is destroyed.
+     * @attention The internal frame object should not be deleted by the caller.
+     * @attention Please use the FrameFactory to create a Frame object.
+     *
+     * @param impl The pointer to the internal frame object.
+     */
+    explicit LiDARPointsFrame(const ob_frame *impl) : Frame(impl){};
+    ~LiDARPointsFrame() noexcept override = default;
+};
+
 /**
  * @brief Define the FrameSet class, which inherits from the Frame class
  * @brief A FrameSet is a container for multiple frames of different types.
@@ -1042,6 +1070,8 @@ template <typename T> bool Frame::is() const {
         return (typeid(T) == typeid(AccelFrame));
     case OB_FRAME_POINTS:
         return (typeid(T) == typeid(PointsFrame));
+    case OB_FRAME_LIDAR_POINTS:
+        return (typeid(T) == typeid(LiDARPointsFrame));
     case OB_FRAME_SET:
         return (typeid(T) == typeid(FrameSet));
     default:

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

@@ -157,6 +157,22 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Enable a LiDAR stream to be used in the pipeline.
+     *
+     * This function allows users to enable a LiDAR stream with customizable parameters.
+     * If no parameters are specified, the stream will be enabled with default settings.
+     * Users who wish to set custom full-scale ranges or sample rates should refer to the product manual, as available settings vary by device model.
+     *
+     * @param scanRate The scan rate of the LiDAR (default is OB_LIDAR_SCAN_ANY, which selects the default scan rate).
+     * @param format The stream format (default is OB_FORMAT_ANY, which selects the default format).
+     */
+    void enableLiDARStream(OBLiDARScanRate scanRate = OB_LIDAR_SCAN_ANY, OBFormat format = OB_FORMAT_ANY) const {
+        ob_error *error = nullptr;
+        ob_config_enable_lidar_stream(impl_, scanRate, format, &error);
+        Error::handle(&error);
+    }
+
     /**
      * @deprecated Use enableStream(std::shared_ptr<StreamProfile> streamProfile) instead
      * @brief Enable all streams to be used in the pipeline

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

@@ -88,7 +88,7 @@ public:
 
     /**
      * @brief Set the extrinsic parameters from current stream profile to the given target stream profile.
-     * 
+     *
      * @tparam target Target stream profile.
      * @tparam extrinsic The extrinsic.
      */
@@ -100,7 +100,7 @@ public:
 
     /**
      * @brief Set the extrinsic parameters from current stream profile to the given target stream type.
-     * 
+     *
      * @tparam targetStreamType Target stream type.
      * @tparam extrinsic The extrinsic.
      */
@@ -378,6 +378,24 @@ public:
     }
 };
 
+/**
+ * @brief Class representing a LiDAR stream profile.
+ */
+
+class LiDARStreamProfile : public StreamProfile {
+public:
+    explicit LiDARStreamProfile(const ob_stream_profile_t *impl) : StreamProfile(impl) {}
+
+    ~LiDARStreamProfile() noexcept override = default;
+
+    OBLiDARScanRate getScanRate() const {
+        ob_error *error = nullptr;
+        auto      rate  = ob_lidar_stream_profile_get_scan_rate(impl_, &error);
+        Error::handle(&error);
+        return rate;
+    }
+};
+
 template <typename T> bool StreamProfile::is() const {
     switch(this->getType()) {
     case OB_STREAM_VIDEO:
@@ -392,6 +410,8 @@ template <typename T> bool StreamProfile::is() const {
         return typeid(T) == typeid(AccelStreamProfile);
     case OB_STREAM_GYRO:
         return typeid(T) == typeid(GyroStreamProfile);
+    case OB_STREAM_LIDAR:
+        return typeid(T) == typeid(LiDARStreamProfile);
     default:
         break;
     }
@@ -416,6 +436,8 @@ public:
             return std::make_shared<AccelStreamProfile>(impl);
         case OB_STREAM_GYRO:
             return std::make_shared<GyroStreamProfile>(impl);
+        case OB_STREAM_LIDAR:
+            return std::make_shared<LiDARStreamProfile>(impl);
         default: {
             ob_error *err = ob_create_error(OB_STATUS_ERROR, "Unsupported stream type.", "StreamProfileFactory::create", "", OB_EXCEPTION_TYPE_INVALID_VALUE);
             Error::handle(&err);
@@ -511,6 +533,21 @@ public:
         return gsp->as<GyroStreamProfile>();
     }
 
+    /**
+     * @brief Match the corresponding LiDAR stream profile based on the passed-in parameters. If multiple Match are found, the first one in the list is
+     * returned by default. Throws an exception if no matching profile is found.
+     *
+     * @param scanRate The scan rate of LiDAR. Pass OB_LIDAR_SCAN_ANY if no matching condition is required.
+     * @param format The type of the stream. Pass OB_FORMAT_ANY if no matching condition is required.
+     */
+    std::shared_ptr<LiDARStreamProfile> getLiDARStreamProfile(OBLiDARScanRate scanRate, OBFormat format) const {
+        ob_error *error   = nullptr;
+        auto      profile = ob_stream_profile_list_get_lidar_stream_profile(impl_, scanRate, format, &error);
+        Error::handle(&error);
+        auto lsp = StreamProfileFactory::create(profile);
+        return lsp->as<LiDARStreamProfile>();
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     uint32_t count() const {

orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp

@@ -83,6 +83,16 @@ public:
         return ob_accel_range_type_to_string(type);
     }
 
+    /**
+     * @brief Convert OBLiDARScanRate to " string " type and then return.
+     *
+     * @param[in] type OBLiDARScanRate type.
+     * @return OBLiDARScanRate of "string" type.
+     */
+    static std::string convertOBLiDARScanRateTypeToString(const OBLiDARScanRate &type) {
+        return ob_lidar_scan_rate_type_to_string(type);
+    }
+
     /**
      * @brief Convert OBFrameMetadataType to " string " type and then return.
      *
@@ -140,4 +150,3 @@ public:
     }
 };
 }  // namespace ob
-