Update SDK version to v2.4.1

orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp

@@ -101,7 +101,7 @@ public:
      * @brief Creates a network device with the specified IP address and port.
      *
      * @param[in] address The IP address, ipv4 only. such as "192.168.1.10"
-     * @param[in] port The port number， currently only support 8090
+     * @param[in] port The port number, currently only support 8090
      * @return std::shared_ptr<Device> The created device object.
      */
     std::shared_ptr<Device> createNetDevice(const char *address, uint16_t port) const {
@@ -127,7 +127,7 @@ public:
     /**
      * @brief Activates device clock synchronization to synchronize the clock of the host and all created devices (if supported).
      *
-     * @param repeatInterval The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
+     * @param repeatIntervalMsec The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
      */
     void enableDeviceClockSync(uint64_t repeatIntervalMsec) const {
         ob_error *error = nullptr;
@@ -146,12 +146,12 @@ public:
     }
 
     /**
-     * @brief For linux, there are two ways to enable the UVC backend: libuvc and libusb. This function is used to set the backend type.
+     * @brief For linux, there are two ways to enable the UVC backend: libuvc and v4l2. This function is used to set the backend type.
      * @brief It is effective when the new device is created.
      *
      * @attention This interface is only available for Linux.
      *
-     * @param[in] backend_type The backend type to be used.
+     * @param[in] type The backend type to be used.
      */
     void setUvcBackendType(OBUvcBackendType type) const {
         ob_error *error = nullptr;
@@ -202,7 +202,7 @@ public:
      * @param callback The callback function.
      */
     static void setLoggerToCallback(OBLogSeverity severity, LogCallback callback) {
-        ob_error *error       = nullptr;
+        ob_error *error           = nullptr;
         Context::getLogCallback() = callback;
         ob_set_logger_to_callback(severity, &Context::logCallback, &Context::getLogCallback(), &error);
         Error::handle(&error);
@@ -210,7 +210,7 @@ public:
 
     /**
      * @brief Set the extensions directory
-     * @brief The extensions directory is used to search for dynamic libraries that provide additional functionality to the SDK， such as the Frame filters.
+     * @brief The extensions directory is used to search for dynamic libraries that provide additional functionality to the SDK, such as the Frame filters.
      *
      * @attention Should be called before creating the context and pipeline, otherwise the default extensions directory (./extensions) will be used.
      *
@@ -240,7 +240,7 @@ private:
     }
 
     // Lazy initialization of the logcallback_. The purpose is to initialize logcallback_ in .hpp
-    static LogCallback& getLogCallback() {
+    static LogCallback &getLogCallback() {
         static LogCallback logCallback_ = nullptr;
         return logCallback_;
     }
@@ -249,4 +249,3 @@ private:
 #define enableMultiDeviceSync enableDeviceClockSync
 };
 }  // namespace ob
-

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

@@ -292,6 +292,30 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Set the customer data type of a device property
+     *
+     * @param data The data to set
+     * @param dataSize The size of the data to set,the maximum length cannot exceed 65532 bytes.
+     */
+    void writeCustomerData(const void *data, uint32_t dataSize) {
+        ob_error *error = nullptr;
+        ob_device_write_customer_data(impl_, data, dataSize, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Get the customer data type of a device property
+     *
+     * @param data The property data obtained
+     * @param dataSize The size of the data obtained
+     */
+    void readCustomerData(void *data, uint32_t *dataSize) {
+        ob_error *error = nullptr;
+        ob_device_read_customer_data(impl_, data, dataSize, &error);
+        Error::handle(&error);
+    }
+
     /**
      * @brief Get the number of properties supported by the device
      *
@@ -491,7 +515,7 @@ public:
      *   Please delete the object directly and obtain it again after the device is reconnected.
      * Support devices: Gemini2 L
      *
-     * @param[in] delayMs Time unit：ms。delayMs == 0：No delay；delayMs > 0, Delay millisecond connect to host device after reboot
+     * @param[in] delayMs Time unit: ms. delayMs == 0: No delay; delayMs > 0, Delay millisecond connect to host device after reboot
      */
     void reboot(uint32_t delayMs) const {
         setIntProperty(OB_PROP_DEVICE_REBOOT_DELAY_INT, delayMs);
@@ -564,7 +588,7 @@ public:
      *
      * @attention The frequency of the user call this function multiplied by the number of frames per trigger should be less than the frame rate of the stream.
      * The number of frames per trigger can be set by @ref framesPerTrigger.
-     * @attention For some models，receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling
+     * @attention For some models, receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling
      * this function should not be too high, please refer to the product manual for the specific supported frequency.
      * @attention If the device is not in the @ref OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.
      */
@@ -755,7 +779,7 @@ public:
      * @param[in] sendData The data to be sent to the device.
      * @param[in] sendDataSize The size of the data to be sent to the device.
      * @param[out] receiveData The data received from the device.
-     * @param[in out] receiveDataSize The requeseted size of the data received from the device, and the actual size of the data received from the device.
+     * @param[in,out] receiveDataSize The requeseted size of the data received from the device, and the actual size of the data received from the device.
      */
     void sendAndReceiveData(const uint8_t *sendData, uint32_t sendDataSize, uint8_t *receiveData, uint32_t *receiveDataSize) const {
         ob_error *error = nullptr;
@@ -919,7 +943,7 @@ public:
     /**
      * @brief Get the connection type of the device
      *
-     * @return const char* the connection type of the device，currently supports："USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1",
+     * @return const char* the connection type of the device, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1",
      * "USB3.2", "Ethernet"
      */
     const char *getConnectionType() const {
@@ -1141,7 +1165,7 @@ public:
      * @brief Get device connection type
      *
      * @param index device index
-     * @return const char* returns connection type，currently supports："USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
+     * @return const char* returns connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
      */
     const char *getConnectionType(uint32_t index) const {
         ob_error *error = nullptr;
@@ -1165,6 +1189,21 @@ public:
         return ip;
     }
 
+    /**
+     * @brief get the local mac address of the device at the specified index
+     *
+     * @attention Only valid for network devices, otherwise it will return "0:0:0:0:0:0".
+     *
+     * @param index the index of the device
+     * @return const char* the local mac address of the device
+     */
+    const char *getLocalMacAddress(uint32_t index) const {
+        ob_error *error = nullptr;
+        auto      mac    = ob_device_list_get_device_local_mac(impl_, index, &error);
+        Error::handle(&error);
+        return mac;
+    }
+
     /**
      * @brief Get the device object at the specified index
      *
@@ -1200,7 +1239,7 @@ public:
      * @brief On Linux platform, for usb device, the uid of the device is composed of bus-port-dev, for example 1-1.2-1. But the SDK will remove the dev number
      * and only keep the bus-port as the uid to create the device, for example 1-1.2, so that we can create a device connected to the specified USB port.
      * Similarly, users can also directly pass in bus-port as uid to create device.
-     * @brief For GMSL device，the uid is GMSL port with “gmsl2-” prefix, for example gmsl2-1.
+     * @brief For GMSL device, the uid is GMSL port with "gmsl2-" prefix, for example gmsl2-1.
      *
      * @attention If the device has been acquired and created elsewhere, repeated acquisition will throw an exception
      *
@@ -1379,9 +1418,9 @@ public:
     }
 
     /**
-     * @brief Get the number of device presets in the list
+     * @brief Get the number of camera parameters in the list.
      *
-     * @return uint32_t the number of device presets in the list
+     * @return uint32_t the number of camera parameters in the list.
      */
     uint32_t getCount() {
         ob_error *error = nullptr;

orbbec_camera/SDK/include/libobsensor/hpp/Error.hpp

@@ -22,10 +22,12 @@ private:
      *
      * @attention This constructor should not be called directly, use the handle() function instead.
      *
-     * @param error
+     * @param error The ob_error object
      */
     explicit Error(ob_error *error) : impl_(error) {};
 
+    Error& operator=(const Error&) = default;
+
 public:
     /**
      * @brief A static function to handle the ob_error and throw an exception if needed.

orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp

@@ -311,7 +311,7 @@ public:
      * @brief Some private filters require an activation key to be activated, its depends on the vendor of the filter.
      *
      * @param name The name of the filter.
-     * @param activation_key The activation key of the filter.
+     * @param activationKey The activation key of the filter.
      */
     static std::shared_ptr<Filter> createPrivateFilter(const std::string &name, const std::string &activationKey) {
         ob_error *error = nullptr;
@@ -352,7 +352,7 @@ public:
     /**
      * @brief Set the output pointcloud frame format.
      *
-     * @param type The point cloud frame format: OB_FORMAT_POINT or OB_FORMAT_RGB_POINT
+     * @param format The point cloud frame format: OB_FORMAT_POINT or OB_FORMAT_RGB_POINT
      */
     void setCreatePointFormat(OBFormat format) {
         setConfigValue("pointFormat", static_cast<double>(format));
@@ -534,7 +534,7 @@ public:
     /**
      * @brief Set the sequenceId filter params.
      *
-     * @param sequence id to pass the filter.
+     * @param sequence_id id to pass the filter.
      */
     void selectSequenceId(int sequence_id) {
         setConfigValue("sequenceid", static_cast<double>(sequence_id));
@@ -580,7 +580,7 @@ public:
     /**
      * @brief Set the decimation filter scale value.
      *
-     * @param type The decimation filter scale value.
+     * @param value The decimation filter scale value.
      */
     void setScaleValue(uint8_t value) {
         setConfigValue("decimate", static_cast<double>(value));
@@ -796,7 +796,6 @@ public:
     /**
      * @brief Set the HoleFillingFilter mode.
      *
-     * @param[in] filter A holefilling_filter object.
      * @param mode OBHoleFillingMode, OB_HOLE_FILL_TOP,OB_HOLE_FILL_NEAREST or OB_HOLE_FILL_FAREST.
      */
     void setFilterMode(OBHoleFillingMode mode) {
@@ -830,7 +829,7 @@ public:
     /**
      * @brief Set the noise removal filter params.
      *
-     * @param[in] params ob_noise_removal_filter_params.
+     * @param[in] filterParams ob_noise_removal_filter_params.
      */
     void setFilterParams(OBNoiseRemovalFilterParams filterParams) {
         setConfigValue("max_size", static_cast<double>(filterParams.max_size));

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

@@ -18,7 +18,7 @@
 #include <functional>
 
 /**
- *  Frame classis inheritance hierarchy：
+ *  Frame classis inheritance hierarchy:
  *         Frame
  *          |
  *      +-----------+----------+----------+-----------+
@@ -181,7 +181,7 @@ public:
 
     /**
      * @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
+     * @brief The global timestamp is the time point when the frame 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 The global timestamp disable by default. If global timestamp is not enabled, the function will return 0. To enable the global timestamp,
@@ -593,6 +593,33 @@ public:
         return scale;
     }
 
+    /**
+     * @brief Get the width of the frame.
+     *
+     * @return uint32_t The width of the frame.
+     */
+    uint32_t getWidth() const {
+        ob_error *error = nullptr;
+        // TODO
+        auto width = ob_point_cloud_frame_get_width(impl_, &error);
+        Error::handle(&error);
+
+        return width;
+    }
+
+    /**
+     * @brief Get the height of the frame.
+     *
+     * @return uint32_t The height of the frame.
+     */
+    uint32_t getHeight() const {
+        ob_error *error  = nullptr;
+        auto      height = ob_point_cloud_frame_get_height(impl_, &error);
+        Error::handle(&error);
+
+        return height;
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
 #define getPositionValueScale getCoordinateValueScale
@@ -902,11 +929,11 @@ public:
      * @attention The buffer is owned by the caller, and will not be destroyed by the frame object. The user should ensure that the buffer is valid and not
      * modified.
      *
-     * @param[in] frame_type Frame object type.
+     * @param[in] frameType Frame object type.
      * @param[in] format Frame object format.
      * @param[in] buffer Frame object buffer.
-     * @param[in] buffer_size Frame object buffer size.
      * @param[in] destroyCallback Destroy callback, will be called when the frame object is destroyed.
+     * @param[in] bufferSize Frame object buffer size.
      *
      * @return std::shared_ptr<Frame> The created frame object.
      */
@@ -957,7 +984,7 @@ private:
 
     static void BufferDestroy(uint8_t *buffer, void *context) {
         auto *ctx = static_cast<BufferDestroyContext *>(context);
-        if (ctx->callback) {
+        if(ctx->callback) {
             ctx->callback(buffer);
         }
         delete ctx;

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

@@ -95,7 +95,7 @@ public:
      * If no parameters are specified, the stream will be enabled with default resolution settings.
      * Users who wish to set custom resolutions should refer to the product manual, as available resolutions vary by camera model.
      *
-     * @param type The video stream type.
+     * @param streamType The video stream type.
      * @param width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
      * @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
      * @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
@@ -182,7 +182,7 @@ public:
      * @brief Disable a sensor stream to be used in the pipeline.
      * @brief Will convert sensor type to stream type automatically.
      *
-     * @param sensorType
+     * @param sensorType The sensor configuration to be disabled
      */
     void disableStream(OBSensorType sensorType) const {
         auto streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
@@ -346,7 +346,7 @@ public:
     /**
      * @brief Wait for frameset
      *
-     * @param timeout_ms The waiting timeout in milliseconds
+     * @param timeoutMs The waiting timeout in milliseconds
      * @return std::shared_ptr<FrameSet> The waiting frameset data
      */
     std::shared_ptr<FrameSet> waitForFrameset(uint32_t timeoutMs = 1000) const {

orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp

@@ -0,0 +1,188 @@
+// Copyright (c) Orbbec Inc. All Rights Reserved.
+// Licensed under the MIT License.
+
+/**
+ * @file RecordPlayback.hpp
+ * @brief Record and playback device-related types, including interfaces to create recording and playback devices,
+ record and playback streaming data, etc.
+ */
+
+#pragma once
+
+#include "Types.hpp"
+#include "Error.hpp"
+#include "libobsensor/h/RecordPlayback.h"
+#include "libobsensor/hpp/Device.hpp"
+
+namespace ob {
+
+typedef std::function<void(OBPlaybackStatus status)> PlaybackStatusChangeCallback;
+
+class RecordDevice {
+private:
+    ob_record_device_t *impl_;
+
+public:
+    explicit RecordDevice(std::shared_ptr<Device> device, const std::string &file, bool compressionEnabled = true) {
+        ob_error *error = nullptr;
+        impl_           = ob_create_record_device(device->getImpl(), file.c_str(), compressionEnabled, &error);
+        Error::handle(&error);
+    }
+
+    virtual ~RecordDevice() noexcept {
+        ob_error *error = nullptr;
+        ob_delete_record_device(impl_, &error);
+        Error::handle(&error, false);
+    }
+
+    RecordDevice(RecordDevice &&other) {
+        if(this != &other) {
+            impl_       = other.impl_;
+            other.impl_ = nullptr;
+        }
+    }
+
+    RecordDevice &operator=(RecordDevice &&other) {
+        if(this != &other) {
+            impl_       = other.impl_;
+            other.impl_ = nullptr;
+        }
+
+        return *this;
+    }
+
+    RecordDevice(const RecordDevice &)            = delete;
+    RecordDevice &operator=(const RecordDevice &) = delete;
+
+public:
+    void pause() {
+        ob_error *error = nullptr;
+        ob_record_device_pause(impl_, &error);
+        Error::handle(&error);
+    }
+
+    void resume() {
+        ob_error *error = nullptr;
+        ob_record_device_resume(impl_, &error);
+        Error::handle(&error);
+    }
+};
+
+class PlaybackDevice : public Device {
+public:
+    explicit PlaybackDevice(const std::string &file) : Device(nullptr) {
+        ob_error *error = nullptr;
+        impl_           = ob_create_playback_device(file.c_str(), &error);
+        Error::handle(&error);
+    }
+
+    virtual ~PlaybackDevice() noexcept = default;
+
+    PlaybackDevice(PlaybackDevice &&other) : Device(std::move(other)) {}
+
+    PlaybackDevice &operator=(PlaybackDevice &&other) {
+        Device::operator=(std::move(other));
+        return *this;
+    }
+
+    PlaybackDevice(const PlaybackDevice &)            = delete;
+    PlaybackDevice &operator=(const PlaybackDevice &) = delete;
+
+public:
+    /**
+     * @brief Pause the streaming data from the playback device.
+     */
+    void pause() {
+        ob_error *error = nullptr;
+        ob_playback_device_pause(impl_, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Resume the streaming data from the playback device.
+     */
+    void resume() {
+        ob_error *error = nullptr;
+        ob_playback_device_resume(impl_, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Seek to a specific timestamp when playing back a recording.
+     * @param[in] timestamp The timestamp to seek to, in milliseconds.
+     */
+    void seek(const int64_t timestamp) {
+        ob_error *error = nullptr;
+        ob_playback_device_seek(impl_, timestamp, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Set the playback rate of the playback device.
+     * @param[in] rate The playback rate to set.
+     */
+    void setPlaybackRate(const float rate) {
+        ob_error *error = nullptr;
+        ob_playback_device_set_playback_rate(impl_, rate, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Set a callback function to be called when the playback status changes.
+     * @param[in] callback The callback function to set.
+     */
+    void setPlaybackStatusChangeCallback(PlaybackStatusChangeCallback callback) {
+        callback_       = callback;
+        ob_error *error = nullptr;
+        ob_playback_device_set_playback_status_changed_callback(impl_, &PlaybackDevice::playbackStatusCallback, this, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Get the current playback status of the playback device.
+     * @return The current playback status.
+     */
+    OBPlaybackStatus getPlaybackStatus() const {
+        ob_error        *error  = nullptr;
+        OBPlaybackStatus status = ob_playback_device_get_current_playback_status(impl_, &error);
+        Error::handle(&error);
+
+        return status;
+    }
+
+    /**
+     * @brief Get the current position of the playback device.
+     * @return The current position of the playback device, in milliseconds.
+     */
+    uint64_t getPosition() const {
+        ob_error *error    = nullptr;
+        uint64_t  position = ob_playback_device_get_position(impl_, &error);
+        Error::handle(&error);
+
+        return position;
+    }
+
+    /**
+     * @brief Get the duration of the playback device.
+     * @return The duration of the playback device, in milliseconds.
+     */
+    uint64_t getDuration() const {
+        ob_error *error    = nullptr;
+        uint64_t  duration = ob_playback_device_get_duration(impl_, &error);
+        Error::handle(&error);
+
+        return duration;
+    }
+
+private:
+    static void playbackStatusCallback(OBPlaybackStatus status, void *userData) {
+        auto *playbackDevice = static_cast<PlaybackDevice *>(userData);
+        if(playbackDevice && playbackDevice->callback_) {
+            playbackDevice->callback_(status);
+        }
+    }
+
+private:
+    PlaybackStatusChangeCallback callback_;
+};
+}  // namespace ob

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

@@ -51,9 +51,9 @@ public:
     }
 
     /**
-     * @brief Get the format of the stream
+     * @brief Get the format of the stream.
      *
-     * @return OBFormat return the format of the stream
+     * @return OBFormat return the format of the stream.
      */
     OBFormat getFormat() const {
         ob_error *error  = nullptr;
@@ -63,9 +63,9 @@ public:
     }
 
     /**
-     * @brief Get the type of stream
+     * @brief Get the type of stream.
      *
-     * @return OBStreamType return the type of the stream
+     * @return OBStreamType return the type of the stream.
      */
     OBStreamType getType() const {
         ob_error *error = nullptr;
@@ -75,7 +75,7 @@ public:
     }
 
     /**
-     * @brief Get the extrinsic parameters from current stream profile to the given target stream profile
+     * @brief Get the extrinsic parameters from current stream profile to the given target stream profile.
      *
      * @return OBExtrinsic Return the extrinsic parameters.
      */
@@ -87,17 +87,41 @@ public:
     }
 
     /**
-     * @brief Check if frame object is compatible with the given type
+     * @brief Set the extrinsic parameters from current stream profile to the given target stream profile.
+     * 
+     * @tparam target Target stream profile.
+     * @tparam extrinsic The extrinsic.
+     */
+    void bindExtrinsicTo(std::shared_ptr<StreamProfile> target, const OBExtrinsic &extrinsic) {
+        ob_error *error = nullptr;
+        ob_stream_profile_set_extrinsic_to(const_cast<ob_stream_profile_t *>(impl_), const_cast<const ob_stream_profile_t *>(target->getImpl()), extrinsic, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Set the extrinsic parameters from current stream profile to the given target stream type.
+     * 
+     * @tparam targetStreamType Target stream type.
+     * @tparam extrinsic The extrinsic.
+     */
+    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);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Check if frame object is compatible with the given type.
      *
-     * @tparam T  Given type
-     * @return bool return result
+     * @tparam T  Given type.
+     * @return bool return result.
      */
     template <typename T> bool is() const;
 
     /**
-     * @brief Converts object type to target type
+     * @brief Converts object type to target type.
      *
-     * @tparam T Target type
+     * @tparam T Target type.
      * @return std::shared_ptr<T> Return the result. Throws an exception if conversion is not possible.
      */
     template <typename T> std::shared_ptr<T> as() {
@@ -109,9 +133,9 @@ public:
     }
 
     /**
-     * @brief Converts object type to target type (const version)
+     * @brief Converts object type to target type (const version).
      *
-     * @tparam T Target type
+     * @tparam T Target type.
      * @return std::shared_ptr<T> Return the result. Throws an exception if conversion is not possible.
      */
     template <typename T> std::shared_ptr<const T> as() const {
@@ -192,6 +216,17 @@ public:
         return intrinsic;
     }
 
+    /**
+     * @brief Set the intrinsic parameters of the stream.
+     *
+     * @param intrinsic The intrinsic parameters.
+     */
+    void setIntrinsic(const OBCameraIntrinsic &intrinsic) {
+        ob_error *error = nullptr;
+        ob_video_stream_profile_set_intrinsic(const_cast<ob_stream_profile_t *>(impl_), intrinsic, &error);
+        Error::handle(&error);
+    }
+
     /**
      * @brief Get the distortion parameters of the stream.
      * @brief Brown distortion model
@@ -205,6 +240,17 @@ public:
         return distortion;
     }
 
+    /**
+     * @brief Set the distortion parameters of the stream.
+     *
+     * @param distortion The distortion parameters.
+     */
+    void setDistortion(const OBCameraDistortion &distortion) {
+        ob_error *error = nullptr;
+        ob_video_stream_profile_set_distortion(const_cast<ob_stream_profile_t *>(impl_), distortion, &error);
+        Error::handle(&error);
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     uint32_t fps() const {

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

@@ -113,7 +113,7 @@ public:
      *      OB_SENSOR_IR_LEFT,
      *      OB_SENSOR_IR_RIGHT,
      *
-     * @param type
+     * @param type The sensor type
      * @return true
      * @return false
      */
@@ -128,7 +128,7 @@ public:
      *      OB_STREAM_VIDEO,
      *      OB_STREAM_DEPTH,
      *      OB_STREAM_COLOR,
-     *      OB_STREAM_IR，
+     *      OB_STREAM_IR,
      *      OB_STREAM_IR_LEFT,
      *      OB_STREAM_IR_RIGHT,
      *

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

@@ -17,7 +17,7 @@
 namespace ob {
 class Device;
 
-class  CoordinateTransformHelper {
+class CoordinateTransformHelper {
 public:
     /**
      * @brief Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
@@ -29,8 +29,8 @@ public:
      * @return bool Transform result
      */
     static bool transformation3dto3d(const OBPoint3f source_point3f, OBExtrinsic extrinsic, OBPoint3f *target_point3f) {
-        ob_error *error = NULL;
-        bool result =  ob_transformation_3d_to_3d(source_point3f, extrinsic, target_point3f, &error);
+        ob_error *error  = NULL;
+        bool      result = ob_transformation_3d_to_3d(source_point3f, extrinsic, target_point3f, &error);
         Error::handle(&error);
         return result;
     }
@@ -48,8 +48,8 @@ public:
      */
     static bool transformation2dto3d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
                                      OBExtrinsic extrinsic, OBPoint3f *target_point3f) {
-        ob_error *error = NULL;
-        bool result = ob_transformation_2d_to_3d(source_point2f, source_depth_pixel_value, source_intrinsic, extrinsic, target_point3f, &error);
+        ob_error *error  = NULL;
+        bool      result = ob_transformation_2d_to_3d(source_point2f, source_depth_pixel_value, source_intrinsic, extrinsic, target_point3f, &error);
         Error::handle(&error);
         return result;
     }
@@ -66,9 +66,9 @@ public:
      * @return bool Transform result
      */
     static bool transformation3dto2d(const OBPoint3f source_point3f, const OBCameraIntrinsic target_intrinsic, const OBCameraDistortion target_distortion,
-                                            OBExtrinsic extrinsic, OBPoint2f *target_point2f) {
-        ob_error *error = NULL;
-        bool result = ob_transformation_3d_to_2d(source_point3f, target_intrinsic, target_distortion, extrinsic, target_point2f, &error);
+                                     OBExtrinsic extrinsic, OBPoint2f *target_point2f) {
+        ob_error *error  = NULL;
+        bool      result = ob_transformation_3d_to_2d(source_point3f, target_intrinsic, target_distortion, extrinsic, target_point2f, &error);
         Error::handle(&error);
         return result;
     }
@@ -90,7 +90,7 @@ public:
     static bool transformation2dto2d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
                                      const OBCameraDistortion source_distortion, const OBCameraIntrinsic target_intrinsic,
                                      const OBCameraDistortion target_distortion, OBExtrinsic extrinsic, OBPoint2f *target_point2f) {
-        ob_error *error = NULL;
+        ob_error *error  = NULL;
         bool      result = ob_transformation_2d_to_2d(source_point2f, source_depth_pixel_value, source_intrinsic, source_distortion, target_intrinsic,
                                                       target_distortion, extrinsic, target_point2f, &error);
         Error::handle(&error);
@@ -101,8 +101,8 @@ public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
                                   const OBSensorType targetSensorType, OBPoint3f *targetPoint3f) {
-        ob_error *error = NULL;
-        bool result = ob_calibration_3d_to_3d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint3f, &error);
+        ob_error *error  = NULL;
+        bool      result = ob_calibration_3d_to_3d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint3f, &error);
         Error::handle(&error);
         return result;
     }
@@ -110,15 +110,16 @@ public:
     static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
                                   const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f) {
         ob_error *error = NULL;
-        bool result = ob_calibration_2d_to_3d(calibrationParam, sourcePoint2f, sourceDepthPixelValue, sourceSensorType, targetSensorType, targetPoint3f, &error);
+        bool      result =
+            ob_calibration_2d_to_3d(calibrationParam, sourcePoint2f, sourceDepthPixelValue, sourceSensorType, targetSensorType, targetPoint3f, &error);
         Error::handle(&error);
         return result;
     }
 
     static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
                                   const OBSensorType targetSensorType, OBPoint2f *targetPoint2f) {
-        ob_error *error = NULL;
-        bool result = ob_calibration_3d_to_2d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint2f, &error);
+        ob_error *error  = NULL;
+        bool      result = ob_calibration_3d_to_2d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint2f, &error);
         Error::handle(&error);
         return result;
     }
@@ -126,7 +127,8 @@ public:
     static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
                                   const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f) {
         ob_error *error = NULL;
-        bool result = ob_calibration_2d_to_2d(calibrationParam, sourcePoint2f, sourceDepthPixelValue, sourceSensorType, targetSensorType, targetPoint2f, &error);
+        bool      result =
+            ob_calibration_2d_to_2d(calibrationParam, sourcePoint2f, sourceDepthPixelValue, sourceSensorType, targetSensorType, targetPoint2f, &error);
         Error::handle(&error);
         return result;
     }
@@ -138,15 +140,15 @@ public:
         // unsafe operation, need to cast const to non-const
         auto unConstImpl = const_cast<ob_frame *>(depthFrame->getImpl());
 
-        auto result = transformation_depth_frame_to_color_camera(device->getImpl() , unConstImpl, targetColorCameraWidth, targetColorCameraHeight, &error);
+        auto result = transformation_depth_frame_to_color_camera(device->getImpl(), unConstImpl, targetColorCameraWidth, targetColorCameraHeight, &error);
         Error::handle(&error);
         return std::make_shared<ob::Frame>(result);
     }
 
     static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
                                            OBXYTables *xyTables) {
-        ob_error *error = NULL;
-        bool result = transformation_init_xy_tables(calibrationParam, sensorType, data, dataSize, xyTables, &error);
+        ob_error *error  = NULL;
+        bool      result = transformation_init_xy_tables(calibrationParam, sensorType, data, dataSize, xyTables, &error);
         Error::handle(&error);
         return result;
     }
@@ -157,11 +159,32 @@ public:
         Error::handle(&error, false);
     }
 
-    static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData){
+    static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData) {
         ob_error *error = NULL;
         transformation_depth_to_rgbd_pointcloud(xyTables, depthImageData, colorImageData, pointCloudData, &error);
         Error::handle(&error, false);
     }
 };
-}  // namespace ob
 
+class PointCloudHelper {
+public:
+    /**
+     * @brief save point cloud to ply file.
+     *
+     * @param[in] fileName Point cloud save path
+     * @param[in] frame Point cloud frame
+     * @param[in] saveBinary Binary or textual,true: binary, false: textual
+     * @param[in] useMesh Save mesh or not, true: save as mesh, false: not save as mesh
+     * @param[in] meshThreshold Distance threshold for creating faces in point cloud,default value :50
+     *
+     * @return bool save point cloud result
+     */
+    static bool savePointcloudToPly(const char *fileName, std::shared_ptr<ob::Frame> frame, bool saveBinary, bool useMesh, float meshThreshold) {
+        ob_error *error       = NULL;
+        auto      unConstImpl = const_cast<ob_frame *>(frame->getImpl());
+        bool      result      = ob_save_pointcloud_to_ply(fileName, unConstImpl, saveBinary, useMesh, meshThreshold, &error);
+        Error::handle(&error, false);
+        return result;
+    }
+};
+}  // namespace ob