Update orbbecsdk library to v1.9.3

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

@@ -267,7 +267,7 @@ public:
      * @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)
+     * @param mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
      */
     void setFrameAggregateOutputMode(OBFrameAggregateOutputMode mode);
 

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

@@ -41,6 +41,22 @@ public:
     static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
                                   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.
+     * @brief This function uses undistortion, which may result in longer processing time.
+     *
+     * @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 calibration2dTo3dUndistortion(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.
      *
@@ -82,5 +98,41 @@ public:
      */
     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);
+
+    /**
+     * @brief Init transformation tables
+     *
+     * @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*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
+     *
+     * @return bool Transform result
+     */
+    static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
+                                           OBXYTables *xyTables);
+
+    /**
+     * @brief Transform depth image to point cloud data
+     *
+     * @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
+     * @param depthImageData input depth image data
+     * @param pointCloudData output point cloud data
+     *
+     */
+    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