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update OrbbecSDK version

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ob-yalian
2026-01-13 17:23:08 +08:00
parent 6977a2bb0b
commit 5ebab41cd0
17 changed files with 52 additions and 26 deletions
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orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+3 -3
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@@ -1562,13 +1562,13 @@ typedef struct {
} OBDispOffsetConfig, ob_disp_offset_config;
/**
* @details Defines the original resolution and scaling factor for down-sampling.
* @details Defines the original resolution and hardware decimation factor for down-sampling.
*/
typedef struct {
uint32_t originWidth;
uint32_t originHeight;
uint32_t scaleFactor;
} OBDownSampleConfig, ob_down_sample_config;
uint32_t decimationFactor;
} OBHardwareDecimationConfig, ob_hardware_decimation_config;
/**
* @brief Frame metadata types
orbbec_camera/SDK/include/libobsensor/h/Pipeline.h
+20 -2
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@@ -236,8 +236,9 @@ OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type s
* @param[in] format The format of the video stream
* @param[out] error Pointer to an error object that will be set if an error occurs.
*/
OB_EXPORT void ob_config_enable_video_stream_by_down_sample_config(ob_config *config, ob_stream_type stream_type, ob_down_sample_config down_sample_config,
uint32_t fps, ob_format format, ob_error **error);
OB_EXPORT void ob_config_enable_video_stream_by_down_sample_config(ob_config *config, ob_stream_type stream_type,
ob_hardware_decimation_config down_sample_config, uint32_t fps, ob_format format,
ob_error **error);
/**
* @brief Enable accelerometer stream with specified parameters
@@ -352,6 +353,23 @@ OB_EXPORT ob_camera_param ob_pipeline_get_camera_param(ob_pipeline *pipeline, ob
OB_EXPORT ob_camera_param ob_pipeline_get_camera_param_with_profile(ob_pipeline *pipeline, uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth,
uint32_t depthHeight, ob_error **error);
/**
* @brief Get the current camera parameters with down-sampled depth profile
*
* @param[in] pipeline pipeline object
* @param[in] colorWidth color width
* @param[in] colorHeight color height
* @param[in] originDepthWidth original depth width before down-sampling
* @param[in] originDepthHeight original depth height before down-sampling
* @param[in] decimationFactor depth down-sampling factor
* @param[out] error Log error messages
*
* @return ob_camera_param returns camera internal parameters
*/
OB_EXPORT ob_camera_param ob_pipeline_get_camera_param_with_down_sample_profile(ob_pipeline *pipeline, uint32_t colorWidth, uint32_t colorHeight,
uint32_t originDepthWidth, uint32_t originDepthHeight,
uint32_t decimationFactor, ob_error **error);
/**
* @brief Get device calibration parameters with the specified configuration
*
orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h
+4 -4
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@@ -253,9 +253,9 @@ OB_EXPORT ob_camera_distortion ob_video_stream_profile_get_distortion(const ob_s
* @param[in] profile Stream profile object.
* @param[out] error Pointer to an error object that will be set if an error occurs.
*
* @return ob_down_sample_config The down-sampling configuration of the stream.
* @return ob_hardware_decimation_config The down-sampling configuration of the stream.
*/
OB_EXPORT ob_down_sample_config ob_video_stream_profile_get_down_sample_config(const ob_stream_profile *profile, ob_error **error);
OB_EXPORT ob_hardware_decimation_config ob_video_stream_profile_get_down_sample_config(const ob_stream_profile *profile, ob_error **error);
/**
* @brief Set the distortion of the video stream profile
@@ -428,8 +428,8 @@ OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_video_stream_profile(con
* @return The matched stream profile.
*/
OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_video_stream_profile_by_down_sample_config(const ob_stream_profile_list *profile_list,
ob_down_sample_config down_sample_config, ob_format format,
int fps, ob_error **error);
ob_hardware_decimation_config down_sample_config,
ob_format format, int fps, ob_error **error);
/**
* @brief Match the corresponding ob_stream_profile through the passed parameters. If there are multiple matches,
orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp
+9 -1
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@@ -133,7 +133,8 @@ public:
* @param[in] fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
* @param[in] format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
*/
void enableVideoStream(OBSensorType sensorType, OBDownSampleConfig downSampleConfig, uint32_t fps = OB_FPS_ANY, OBFormat format = OB_FORMAT_ANY) const {
void enableVideoStream(OBSensorType sensorType, OBHardwareDecimationConfig downSampleConfig, uint32_t fps = OB_FPS_ANY,
OBFormat format = OB_FORMAT_ANY) const {
auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
ob_error *error = nullptr;
ob_config_enable_video_stream_by_down_sample_config(impl_, streamType, downSampleConfig, fps, format, &error);
@@ -470,6 +471,13 @@ public:
return cameraParam;
}
OBCameraParam getCameraParamWithProfile(uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight, uint32_t decimationFactor) {
ob_error *error = nullptr;
OBCameraParam cameraParam = ob_pipeline_get_camera_param_with_down_sample_profile(impl_, colorWidth, colorHeight, depthWidth, depthHeight, decimationFactor, &error);
Error::handle(&error);
return cameraParam;
}
OBCalibrationParam getCalibrationParam(std::shared_ptr<Config> config) {
ob_error *error = nullptr;
OBCalibrationParam calibrationParam = ob_pipeline_get_calibration_param(impl_, config->getImpl(), &error);
orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp
+4 -4
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@@ -106,7 +106,7 @@ public:
*/
void bindExtrinsicTo(const OBStreamType &targetStreamType, const OBExtrinsic &extrinsic) {
ob_error *error = nullptr;
ob_stream_profile_set_extrinsic_to_type(const_cast<ob_stream_profile_t *>(impl_),targetStreamType,extrinsic, &error);
ob_stream_profile_set_extrinsic_to_type(const_cast<ob_stream_profile_t *>(impl_), targetStreamType, extrinsic, &error);
Error::handle(&error);
}
@@ -258,9 +258,9 @@ public:
* @brief Get the down-sampling configuration of the stream.
* @brief Includes original resolution and scale factor.
*
* @return OBDownSampleConfig Return the down-sampling configuration.
* @return OBHardwareDecimationConfig Return the down-sampling configuration.
*/
OBDownSampleConfig getDownSampleConfig() const {
OBHardwareDecimationConfig getDownSampleConfig() const {
ob_error *error = nullptr;
auto downSampleConfig = ob_video_stream_profile_get_down_sample_config(const_cast<ob_stream_profile_t *>(impl_), &error);
Error::handle(&error);
@@ -538,7 +538,7 @@ public:
*
* @return std::shared_ptr<VideoStreamProfile> Return the matched video stream profile.
*/
std::shared_ptr<VideoStreamProfile> getVideoStreamProfile(OBDownSampleConfig downSampleConfig, OBFormat format = OB_FORMAT_ANY,
std::shared_ptr<VideoStreamProfile> getVideoStreamProfile(OBHardwareDecimationConfig downSampleConfig, OBFormat format = OB_FORMAT_ANY,
int fps = OB_FPS_ANY) const {
ob_error *error = nullptr;
auto profile = ob_stream_profile_list_get_video_stream_profile_by_down_sample_config(impl_, downSampleConfig, format, fps, &error);