Update SDK version to v2.4.1

orbbec_camera/SDK/include/libobsensor/ObSensor.h

@@ -20,4 +20,4 @@
 #include <libobsensor/h/StreamProfile.h>
 #include <libobsensor/h/Version.h>
 #include <libobsensor/h/TypeHelper.h>
-
+#include <libobsensor/h/RecordPlayback.h>

orbbec_camera/SDK/include/libobsensor/ObSensor.hpp

@@ -14,9 +14,8 @@
 #include <libobsensor/hpp/Filter.hpp>
 #include <libobsensor/hpp/Frame.hpp>
 #include <libobsensor/hpp/Pipeline.hpp>
-// #include <libobsensor/hpp/RecordPlayback.hpp>
+#include <libobsensor/hpp/RecordPlayback.hpp>
 #include <libobsensor/hpp/Sensor.hpp>
 #include <libobsensor/hpp/StreamProfile.hpp>
 #include <libobsensor/hpp/Version.hpp>
 #include <libobsensor/hpp/TypeHelper.hpp>
-

orbbec_camera/SDK/include/libobsensor/h/Advanced.h

@@ -211,12 +211,12 @@ OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *pre
  * @return bool Returns true if the device supports the frame interleave feature.
  */
 OB_EXPORT bool ob_device_is_frame_interleave_supported(const ob_device *device, ob_error **error);
-    /**
+/**
  *
  * @brief load the frame interleave mode according to frame interleavee name.
  *
  * @param device The device object.
- * @param interleave_ae_name  The name should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
+ * @param frame_interleave_name  The name should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
  * @param error  Log error messages.
  */
 OB_EXPORT void ob_device_load_frame_interleave(ob_device *device, const char *frame_interleave_name, ob_error **error);
@@ -230,11 +230,10 @@ OB_EXPORT void ob_device_load_frame_interleave(ob_device *device, const char *fr
  */
 OB_EXPORT ob_device_frame_interleave_list *ob_device_get_available_frame_interleave_list(ob_device *device, ob_error **error);
 
-
 /**
  * @brief Delete the available frame interleave list.
  *
- * @param interleave_ae_list The available frame interleave list.
+ * @param frame_interleave_list The available frame interleave list.
  * @param error  Log error messages.
  */
 OB_EXPORT void ob_delete_frame_interleave_list(ob_device_frame_interleave_list *frame_interleave_list, ob_error **error);
@@ -242,7 +241,7 @@ OB_EXPORT void ob_delete_frame_interleave_list(ob_device_frame_interleave_list *
 /**
  * @brief Get the number of frame interleave in the frame interleave list.
  *
- * @param interleave_ae_list The available frame interleave  list.
+ * @param frame_interleave_list The available frame interleave list.
  * @param error  Log error messages.
  * @return  The number of frame interleave in the frame interleave list.
  */
@@ -251,7 +250,7 @@ OB_EXPORT uint32_t ob_device_frame_interleave_list_get_count(ob_device_frame_int
 /**
  * @brief Get the name of frame interleave in the frame interleave list.
  *
- * @param interleave_ae_list The available frame interleave list.
+ * @param frame_interleave_list The available frame interleave list.
  * @param index  The index of frame interleave in the frame interleave list.
  * @param error  Log error messages.
  * @return  The name of frame interleave in the frame interleave list..
@@ -261,8 +260,8 @@ OB_EXPORT const char *ob_device_frame_interleave_list_get_name(ob_device_frame_i
 /**
  * @brief Check if the interleave ae list has the interleave ae.
  *
- * @param interleave_ae_list The available interleave ae list.
+ * @param frame_interleave_list The available interleave ae list.
- * @param interleave_ae_name  The name of the interleave ae.
+ * @param frame_interleave_name  The name of the interleave ae.
  * @param error  Log error messages.
  * @return  Whether the interleave ae list has the interleave ae. If true, the interleave ae list has the interleave ae. If false, the interleave ae list does
  * not have the interleave ae.

orbbec_camera/SDK/include/libobsensor/h/Context.h

@@ -104,7 +104,7 @@ OB_EXPORT void ob_enable_device_clock_sync(ob_context *context, uint64_t repeat_
 OB_EXPORT void ob_free_idle_memory(ob_context *context, ob_error **error);
 
 /**
- * @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.
@@ -155,7 +155,7 @@ OB_EXPORT void ob_set_logger_to_console(ob_log_severity severity, ob_error **err
 
 /**
  * @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.
  *

orbbec_camera/SDK/include/libobsensor/h/Device.h

@@ -166,6 +166,26 @@ OB_EXPORT void ob_device_get_structured_data(ob_device *device, ob_property_id p
  */
 OB_EXPORT void ob_device_get_raw_data(ob_device *device, ob_property_id property_id, ob_get_data_callback cb, void *user_data, ob_error **error);
 
+/**
+ * @brief Set customer data.
+ *
+ * @param[in] device The device object.
+ * @param[in] data The property data to be set.
+ * @param[in] data_size The size of the property to be set,the maximum length cannot exceed 65532 bytes.
+ * @param[out] error Log error messages.
+ */
+OB_EXPORT void ob_device_write_customer_data(ob_device *device, const void *data, uint32_t data_size, ob_error **error);
+
+/**
+ * @brief Get customer data of a device property.
+ *
+ * @param[in] device The device object.
+ * @param[out] data The obtained property data.
+ * @param[out] data_size The size of the obtained property data.
+ * @param[out] error Log error messages.
+ */
+OB_EXPORT void ob_device_read_customer_data(ob_device *device, void *data, uint32_t *data_size, ob_error **error);
+
 /**
  * @brief Get the number of properties supported by the device.
  *
@@ -305,9 +325,8 @@ OB_EXPORT void ob_device_enable_heartbeat(ob_device *device, bool enable, ob_err
  * @param[in] send_data The data to be sent to the device.
  * @param[in] send_data_size The size of the data to be sent to the device.
  * @param[out] receive_data The data received from the device.
- * @param[in, out] receive_data_size Pass in the expected size of the receive data, and return the actual size of the received data.
+ * @param[in,out] receive_data_size Pass in the expected size of the receive data, and return the actual size of the received data.
  * @param error Pointer to an error object that will be set if an error occurs.
- * @return OB_EXPORT
  */
 OB_EXPORT void ob_device_send_and_receive_data(ob_device *device, const uint8_t *send_data, uint32_t send_data_size, uint8_t *receive_data,
                                                uint32_t *receive_data_size, ob_error **error);
@@ -388,7 +407,7 @@ OB_EXPORT const char *ob_device_info_get_firmware_version(const ob_device_info *
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
- * @return const char* The connection type，currently supports："USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
+ * @return const char* The connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
  */
 OB_EXPORT const char *ob_device_info_get_connection_type(const ob_device_info *info, ob_error **error);
 
@@ -399,7 +418,7 @@ OB_EXPORT const char *ob_device_info_get_connection_type(const ob_device_info *i
  *
  * @param info Device Information
  * @param error Pointer to an error object that will be set if an error occurs.
- * @return const char* The IP address，such as "192.168.1.10"
+ * @return const char* The IP address, such as "192.168.1.10"
  */
 OB_EXPORT const char *ob_device_info_get_ip_address(const ob_device_info *info, ob_error **error);
 
@@ -533,7 +552,7 @@ OB_EXPORT const char *ob_device_list_get_device_serial_number(const ob_device_li
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
- * @return const char* returns the device connection type，currently supports："USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2",
+ * @return const char* returns the device connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2",
  * "Ethernet"
  */
 OB_EXPORT const char *ob_device_list_get_device_connection_type(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -546,10 +565,22 @@ OB_EXPORT const char *ob_device_list_get_device_connection_type(const ob_device_
  * @param list Device list object
  * @param index Device index
  * @param error Pointer to an error object that will be set if an error occurs.
- * @return const char* returns the device ip address，such as "192.168.1.10"
+ * @return const char* returns the device ip address, such as "192.168.1.10"
  */
 OB_EXPORT const char *ob_device_list_get_device_ip_address(const ob_device_list *list, uint32_t index, ob_error **error);
 
+/**
+ * @brief Get device local mac address
+ *
+ * @attention Only valid for network devices, otherwise it will return "0:0:0:0:0:0".
+ *
+ * @param list Device list object
+ * @param index Device index
+ * @param error Pointer to an error object that will be set if an error occurs.
+ * @return const char* returns the device mac address
+ */
+OB_EXPORT const char *ob_device_list_get_device_local_mac(const ob_device_list *list, uint32_t index, ob_error **error);
+
 /**
  * @brief Create a device.
  *
@@ -580,7 +611,7 @@ OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number(const ob_device_
  * @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 already been acquired and created elsewhere, repeated acquisitions will return an error.
  *

orbbec_camera/SDK/include/libobsensor/h/Error.h

@@ -68,7 +68,7 @@ OB_EXPORT ob_exception_type ob_error_get_exception_type(const ob_error *error);
 /**
  * @brief Delete the error object.
  *
- * @param[in] error The error object to delete.
+ * @param[in] error The error object to delete, you should set the pointer to NULL after calling this function.
  */
 OB_EXPORT void ob_delete_error(ob_error *error);
 

orbbec_camera/SDK/include/libobsensor/h/Frame.h

@@ -62,7 +62,7 @@ OB_EXPORT ob_frame *ob_create_frame_from_stream_profile(const ob_stream_profile
  * no longer needed.
  *
  * @param[in] frame_type Frame object type.
- * @param[in] frame_format Frame object format.
+ * @param[in] format Frame object format.
  * @param[in] width Frame object width.
  * @param[in] height Frame object height.
  * @param[in] stride_bytes Row span in bytes. If 0, the stride is calculated based on the width and format.
@@ -148,7 +148,7 @@ OB_EXPORT void ob_delete_frame(const ob_frame *frame, ob_error **error);
 
 /**
  * @brief Copy the information of the source frame object to the destination frame object.
- * @brief Including the index，timestamp，system timestamp，global timestamp and metadata will be copied.
+ * @brief Including the index, timestamp, system timestamp, global timestamp and metadata will be copied.
  *
  * @param[in] src_frame Source frame object to copy the information from.
  * @param[in] dst_frame Destination frame object to copy the information to.
@@ -224,7 +224,7 @@ OB_EXPORT void ob_frame_set_system_timestamp_us(ob_frame *frame, uint64_t system
 
 /**
  * @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 frame timestamp and can eliminate the timer drift of the device
  *
  * @attention The global timestamp is disabled by default. If global timestamp is not enabled, the function will return 0. To enable it, call @ref
@@ -603,6 +603,24 @@ OB_EXPORT ob_frame *ob_frameset_get_frame_by_index(const ob_frame *frameset, uin
  */
 OB_EXPORT void ob_frameset_push_frame(ob_frame *frameset, const ob_frame *frame, ob_error **error);
 
+/**
+ * @brief Get point cloud frame width
+ *
+ * @param[in] frame point cloud Frame object
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return uint32_t return the point cloud frame width
+ */
+OB_EXPORT uint32_t ob_point_cloud_frame_get_width(const ob_frame *frame, ob_error **error);
+
+/**
+ * @brief Get point cloud frame height
+ *
+ * @param[in] frame point cloud Frame object
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return uint32_t return the point cloud frame height
+ */
+OB_EXPORT uint32_t ob_point_cloud_frame_get_height(const ob_frame *frame, ob_error **error);
+
 // The following interfaces are deprecated and are retained here for compatibility purposes.
 #define ob_frame_index ob_frame_get_index
 #define ob_frame_format ob_frame_get_format

orbbec_camera/SDK/include/libobsensor/h/MultipleDevices.h

@@ -62,7 +62,7 @@ OB_EXPORT ob_multi_device_sync_config ob_device_get_multi_device_sync_config(con
  *
  * @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 this
+ * @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.
  *

orbbec_camera/SDK/include/libobsensor/h/ObTypes.h

@@ -10,19 +10,21 @@
 
 #include "Export.h"
 
+#include <stdbool.h>
+#include <stdint.h>
+
 #pragma pack(push, 1)  // struct 1-byte align
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#include <stdbool.h>
-#include <stdint.h>
-
 typedef struct ob_context_t                      ob_context;
 typedef struct ob_device_t                       ob_device;
 typedef struct ob_device_info_t                  ob_device_info;
 typedef struct ob_device_list_t                  ob_device_list;
+typedef struct ob_record_device_t                ob_record_device;
+typedef struct ob_playback_device_t              ob_playback_device;
 typedef struct ob_camera_param_list_t            ob_camera_param_list;
 typedef struct ob_sensor_t                       ob_sensor;
 typedef struct ob_sensor_list_t                  ob_sensor_list;
@@ -183,6 +185,7 @@ typedef enum {
     OB_PIXEL_DEPTH     = 0,   // Depth pixel type, the value of the pixel is the distance from the camera to the object
     OB_PIXEL_DISPARITY = 2,   // Disparity for structured light camera
     OB_PIXEL_RAW_PHASE = 3,   // Raw phase for tof camera
+    OB_PIXEL_TOF_DEPTH = 4,   // Depth for tof camera
 } OBPixelType,
     ob_pixel_type;
 
@@ -190,7 +193,7 @@ typedef enum {
  * @brief Enumeration value describing the pixel format
  */
 typedef enum {
-    OB_FORMAT_UNKNOWN    = -1, /*< unknown format */
+    OB_FORMAT_UNKNOWN    = -1, /**< unknown format */
     OB_FORMAT_YUYV       = 0,  /**< YUYV format */
     OB_FORMAT_YUY2       = 1,  /**< YUY2 format (the actual format is the same as YUYV) */
     OB_FORMAT_UYVY       = 2,  /**< UYVY format */
@@ -495,6 +498,15 @@ typedef enum {
 } OBAlignMode,
     ob_align_mode;
 
+/**
+ * @brief Camera performance mode
+ */
+typedef enum {
+    ADAPTIVE_PERFORMANCE_MODE, /**< Camera adaptive mode */
+    HIGH_PERFORMANCE_MODE,     /**< High Performance Mode */
+} OBCameraPerformanceMode,
+    ob_camera_performance_mode;
+
 /**
  * @brief Rectangle
  */
@@ -527,6 +539,10 @@ typedef enum {
     FORMAT_YUYV_TO_BGRA,    /**< YUYV to BGRA */
     FORMAT_YUYV_TO_Y16,     /**< YUYV to Y16 */
     FORMAT_YUYV_TO_Y8,      /**< YUYV to Y8 */
+    FORMAT_RGBA_TO_RGB,     /**< RGBA to RGB */
+    FORMAT_BGRA_TO_BGR,     /**< BGRA to BGR */
+    FORMAT_Y16_TO_RGB,      /**< Y16 to RGB */
+    FORMAT_Y8_TO_RGB,       /**< Y8 to RGB */
 } OBConvertFormat,
     ob_convert_format;
 
@@ -714,14 +730,14 @@ typedef struct {
     double  zpps;          // zpps=z0/fx
     float   baseline;      // baseline length, for monocular camera,it means the distance of laser to the center of IR-CMOS
     double  fx;            // focus
-    uint8_t bitSize;       // disparity bit size（raw disp bit size，for example: MX6000 is 12, MX6600 is 14）
+    uint8_t bitSize;       // disparity bit size (raw disp bit size, for example: MX6000 is 12, MX6600 is 14)
-    float   unit;          // reference units：unit=10 denote 1cm; unit=1 denote 1mm; unit=0.5 denote 0.5mm; and so on
+    float   unit;          // reference units: unit=10 denote 1cm; unit=1 denote 1mm; unit=0.5 denote 0.5mm; and so on
     float   minDisparity;  // dual disparity coefficient
     uint8_t packMode;      // data pack mode
-    float   dispOffset;    // disparity offset，actual disp=chip disp + disp_offset
+    float   dispOffset;    // disparity offset, actual disp=chip disp + disp_offset
-    int32_t invalidDisp;   // invalid disparity，usually is 0，dual IR add a auxiliary value.
+    int32_t invalidDisp;   // invalid disparity, usually is 0, dual IR add a auxiliary value.
-    int32_t dispIntPlace;  // disp integer digits，default is 8，Gemini2 XL is 10
+    int32_t dispIntPlace;  // disp integer digits, default is 8, Gemini2 XL is 10
-    uint8_t isDualCamera;  // 0 monocular camera，1 dual camera
+    uint8_t isDualCamera;  // 0 monocular camera, 1 dual camera
 } OBDisparityParam, ob_disparity_param;
 
 /**
@@ -826,7 +842,7 @@ typedef enum {
     /**
      * @brief Secondary synchronize mode
      * @brief Secondary device. Both process input trigger signal and output trigger signal to other devices.
-     * @brief Different sensors in a single devices receive trigger signals respectively：ext trigger -> RGB && ext trigger -> IR/Depth/TOF
+     * @brief Different sensors in a single devices receive trigger signals respectively: ext trigger -> RGB && ext trigger -> IR/Depth/TOF
      *
      * @attention With the current Gemini 2 device set to this mode, each Sensor receives the first external trigger signal
      *     after the stream is turned on and starts timing self-triggering at the set frame rate until the stream is turned off
@@ -860,7 +876,7 @@ typedef enum {
      * @brief Software trigger synchronize mode as secondary device
      * @brief The slave receives the external trigger signal (the external trigger signal comes from the soft trigger host) and outputs the trigger signal to
      * the external relay.
-     * @brief Different sensors in a single machine receive trigger signals respectively：ext trigger -> RGB && ext  trigger -> IR/Depth/TOF
+     * @brief Different sensors in a single machine receive trigger signals respectively: ext trigger -> RGB && ext  trigger -> IR/Depth/TOF
      */
     OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER = 0x07,
 
@@ -1295,14 +1311,14 @@ typedef struct {
     /**
      * @brief The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.
      *
-     * @attention This parameter is only valid for some models， please refer to the product manual for details.
+     * @attention This parameter is only valid for some models, please refer to the product manual for details.
      */
     int depthDelayUs;
 
     /**
      * @brief The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.
      *
-     * @attention This parameter is only valid for some models， please refer to the product manual for details.
+     * @attention This parameter is only valid for some models, please refer to the product manual for details.
      */
     int colorDelayUs;
 
@@ -1548,14 +1564,14 @@ typedef enum {
 
     /**
      * @brief Power line frequency
-     * @brief For anti-flickering， 0：Close， 1： 50Hz， 2： 60Hz， 3： Auto
+     * @brief For anti-flickering, 0: Close, 1: 50Hz, 2: 60Hz, 3: Auto
      */
     OB_FRAME_METADATA_TYPE_POWER_LINE_FREQUENCY = 15,
 
     /**
      * @brief Low light compensation
      *
-     * @attention The low light compensation is a feature inside the device，and can not manually control it.
+     * @attention The low light compensation is a feature inside the device, and can not manually control it.
      */
     OB_FRAME_METADATA_TYPE_LOW_LIGHT_COMPENSATION = 16,
 
@@ -1678,9 +1694,26 @@ typedef enum {
      *
      */
     OB_UVC_BACKEND_TYPE_V4L2,
+
+    /**
+     * @brief Use MSMF backend to access the UVC device
+     */
+    OB_UVC_BACKEND_TYPE_MSMF,
 } ob_uvc_backend_type,
     OBUvcBackendType;
 
+/**
+ * @brief The playback status of the media
+ */
+typedef enum {
+    OB_PLAYBACK_UNKNOWN,
+    OB_PLAYBACK_PLAYING, /**< The media is playing */
+    OB_PLAYBACK_PAUSED,  /**< The media is paused */
+    OB_PLAYBACK_STOPPED, /**< The media is stopped */
+    OB_PLAYBACK_COUNT,
+} ob_playback_status,
+    OBPlaybackStatus;
+
 // For compatibility
 #define OB_FRAME_METADATA_TYPE_LASER_POWER_MODE OB_FRAME_METADATA_TYPE_LASER_POWER_LEVEL
 #define OB_FRAME_METADATA_TYPE_EMITTER_MODE OB_FRAME_METADATA_TYPE_LASER_STATUS
@@ -1787,6 +1820,7 @@ typedef void(ob_frame_destroy_callback)(uint8_t *buffer, void *user_data);
  */
 typedef void(ob_log_callback)(ob_log_severity severity, const char *message, void *user_data);
 
+typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, void *user_data);
 /**
  * @brief Check if the sensor_type is a video sensor
  *

orbbec_camera/SDK/include/libobsensor/h/Pipeline.h

@@ -205,13 +205,13 @@ OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config, co
  *
  * @attention The stream_type should be a video stream type, such as OB_STREAM_IR, OB_STREAM_COLOR, OB_STREAM_DEPTH, etc.
  *
- * @param config[in] The pipeline configuration object
+ * @param[in] config The pipeline configuration object
- * @param stream_type[in] The type of the stream to be enabled
+ * @param[in] stream_type The type of the stream to be enabled
- * @param width[in] The width of the video stream
+ * @param[in] width The width of the video stream
- * @param height[in] The height of the video stream
+ * @param[in] height The height of the video stream
- * @param fps[in] The frame rate of the video stream
+ * @param[in] fps The frame rate of the video stream
- * @param format[in] The format of the video stream
+ * @param[in] format The format of the video stream
- * @param error[out] Pointer to an error object that will be set if an error occurs.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type stream_type, uint32_t width, uint32_t height, uint32_t fps, ob_format format,
                                              ob_error **error);
@@ -219,20 +219,20 @@ OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type s
 /**
  * @brief Enable accelerometer stream with specified parameters
  *
- * @param config[in] The pipeline configuration object
+ * @param[in] config The pipeline configuration object
- * @param full_scale_range[in] The full scale range of the accelerometer
+ * @param[in] full_scale_range The full scale range of the accelerometer
- * @param sample_rate[in] The sample rate of the accelerometer
+ * @param[in] sample_rate The sample rate of the accelerometer
- * @param error[out] Pointer to an error object that will be set if an error occurs.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_config_enable_accel_stream(ob_config *config, ob_accel_full_scale_range full_scale_range, ob_accel_sample_rate sample_rate, ob_error **error);
 
 /**
  * @brief Enable gyroscope stream with specified parameters
  *
- * @param config[in] The pipeline configuration object
+ * @param[in] config The pipeline configuration object
- * @param full_scale_range[in] The full scale range of the gyroscope
+ * @param[in] full_scale_range The full scale range of the gyroscope
- * @param sample_rate[in] The sample rate of the gyroscope
+ * @param[in] sample_rate The sample rate of the gyroscope
- * @param error[out] Pointer to an error object that will be set if an error occurs.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_config_enable_gyro_stream(ob_config *config, ob_gyro_full_scale_range full_scale_range, ob_gyro_sample_rate sample_rate, ob_error **error);
 

orbbec_camera/SDK/include/libobsensor/h/Property.h

@@ -306,7 +306,7 @@ typedef enum {
     OB_PROP_DEPTH_ROTATE_INT = 118,
 
     /**
-     * @brief Get hardware laser power actual level which real state of laser element. OB_PROP_LASER_POWER_LEVEL_CONTROL_INT99）will effect this command
+     * @brief Get hardware laser power actual level which real state of laser element. OB_PROP_LASER_POWER_LEVEL_CONTROL_INT99 will effect this command
      * which it setting and changed the hardware laser energy level.
      */
     OB_PROP_LASER_POWER_ACTUAL_LEVEL_INT = 119,
@@ -501,6 +501,20 @@ typedef enum {
      * @brief hardware noise remove filter threshold ,range [0.0 - 1.0]
      */
     OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT = 212,
+    /**
+     * @brief soft trigger auto capture enable, use in OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING mode
+     */
+    OB_DEVICE_AUTO_CAPTURE_ENABLE_BOOL = 216,
+    /**
+     * @brief soft trigger auto capture interval time, use in OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING mode
+     */
+    OB_DEVICE_AUTO_CAPTURE_INTERVAL_TIME_INT = 217,
+
+    /**
+     * @brief PTP time synchronization enable
+     */
+    OB_DEVICE_PTP_CLOCK_SYNC_ENABLE_BOOL = 223,
+
     /**
      * @brief Baseline calibration parameters
      */
@@ -553,7 +567,7 @@ typedef enum {
 
     /**
      * @brief Device network static ip config record
-     * @brief Using for get last static ip config，witch is record in device flash when user set static ip config
+     * @brief Using for get last static ip config, witch is record in device flash when user set static ip config
      *
      * @attention read only
      */
@@ -800,10 +814,20 @@ typedef enum {
      */
     OB_PROP_NETWORK_BANDWIDTH_TYPE_INT = 3027,
 
+    /**
+     * @brief Switch device performance mode, currently available in Adaptive Mode and High Performance Mode, such as G335LE.
+     */
+    OB_PROP_DEVICE_PERFORMANCE_MODE_INT = 3028,
+
     /**
      * @brief Calibration JSON file read from device (Femto Mega, read only)
      */
     OB_RAW_DATA_CAMERA_CALIB_JSON_FILE = 4029,
+
+    /**
+     * @brief Confidence degree
+     */
+    OB_PROP_DEBUG_ESGM_CONFIDENCE_FLOAT = 5013,
 } OBPropertyID,
     ob_property_id;
 

orbbec_camera/SDK/include/libobsensor/h/RecordPlayback.h

@@ -0,0 +1,135 @@
+// 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
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "Device.h"
+
+/**
+ * @brief Create a recording device for the specified device with a specified file path and compression enabled.
+ *
+ * @param[in] device The device to record.
+ * @param[in] file_path The file path to record to.
+ * @param[in] compression_enabled Whether to enable compression for the recording.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return A pointer to the newly created recording device, or NULL if an error occurred.
+ */
+OB_EXPORT ob_record_device *ob_create_record_device(ob_device *device, const char *file_path, bool compression_enabled, ob_error **error);
+
+/**
+ * @brief Delete a recording device.
+ *
+ * @param[in] recorder The recording device to delete.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_delete_record_device(ob_record_device *recorder, ob_error **error);
+
+/**
+ * @brief Pause recording on the specified recording device.
+ *
+ * @param[in] recorder The recording device to pause.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_record_device_pause(ob_record_device *recorder, ob_error **error);
+
+/**
+ * @brief Resume recording on the specified recording device.
+ *
+ * @param[in] recorder The recording device to resume.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_record_device_resume(ob_record_device *recorder, ob_error **error);
+
+/**
+ * @brief Create a playback device for the specified file path.
+ *
+ * @param[in] file_path The file path to playback from.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return A pointer to the newly created playback device, or NULL if an error occurred.
+ */
+OB_EXPORT ob_device *ob_create_playback_device(const char *file_path, ob_error **error);
+
+/**
+ * @brief Pause playback on the specified playback device.
+ *
+ * @param[in] player The playback device to pause.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_playback_device_pause(ob_device *player, ob_error **error);
+
+/**
+ * @brief Resume playback on the specified playback device.
+ *
+ * @param[in] player The playback device to resume.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_playback_device_resume(ob_device *player, ob_error **error);
+
+/**
+ * @brief Set the playback to a specified time point of the played data.
+ *
+ * @param[in] player The playback device to set the position for.
+ * @param[in] timestamp The position to set the playback to, in milliseconds.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_playback_device_seek(ob_device *player, const uint64_t timestamp, ob_error **error);
+
+/**
+ * @brief Set the playback to a specified time point of the played data.
+ *
+ * @param[in] player The playback device to set the position for.
+ * @param[in] rate The playback rate to set.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_playback_device_set_playback_rate(ob_device *player, const float rate, ob_error **error);
+
+/**
+ * @brief Get the current playback status of the played data.
+ *
+ * @param[in] player The playback device to get the status for.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return The current playback status of the played data.
+ */
+OB_EXPORT ob_playback_status ob_playback_device_get_current_playback_status(ob_device *player, ob_error **error);
+
+/**
+ * @brief Set a callback function to receive playback status updates.
+ *
+ * @param[in] player The playback device to set the callback for.
+ * @param[in] callback The callback function to receive playback status updates.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_playback_device_set_playback_status_changed_callback(ob_device *player, ob_playback_status_changed_callback callback, void *user_data,
+                                                                       ob_error **error);
+
+/**
+ * @brief Get the current playback position of the played data.
+ *
+ * @param[in] player The playback device to get the position for.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return The current playback position of the played data, in milliseconds.
+ */
+OB_EXPORT uint64_t ob_playback_device_get_position(ob_device *player, ob_error **error);
+
+/**
+ * @brief Get the duration of the played data.
+ *
+ * @param[in] player The playback device to get the duration for.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return The duration of the played data, in milliseconds.
+ */
+OB_EXPORT uint64_t ob_playback_device_get_duration(ob_device *player, ob_error **error);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h

@@ -134,13 +134,23 @@ OB_EXPORT ob_extrinsic ob_stream_profile_get_extrinsic_to(const ob_stream_profil
 /**
  * @brief Set the extrinsic for source stream to target stream
  *
- * @param[in] profile Stream profile object
+ * @param[in] source Stream profile object
  * @param[in] target  Target stream type
  * @param[in] extrinsic The extrinsic
  * @param[out] error   Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_stream_profile_set_extrinsic_to(ob_stream_profile *source, const ob_stream_profile *target, ob_extrinsic extrinsic, ob_error **error);
 
+/**
+ * @brief Set the extrinsic for source stream to target stream type
+ *
+ * @param[in] source Source stream profile
+ * @param[in]  type Target stream type
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return ob_extrinsic The extrinsic
+ */
+OB_EXPORT void ob_stream_profile_set_extrinsic_to_type(ob_stream_profile *source, const ob_stream_type type, ob_extrinsic extrinsic, ob_error **error);
+
 /**
  * @brief Get the frame rate of the video stream
  *
@@ -235,7 +245,7 @@ OB_EXPORT ob_disparity_param ob_disparity_based_stream_profile_get_disparity_par
  * @brief Set the disparity process param of the disparity stream.
  *
  * @param[in] profile Stream profile object. If the profile is not for the disparity stream, an error will be returned.
- * @param[in]  intrinsic The disparity process param of the disparity stream.
+ * @param[in] param The disparity process param of the disparity stream.
  * @param[out] error Pointer to an error object that will be set if an error occurs.
  */
 OB_EXPORT void ob_disparity_based_stream_profile_set_disparity_param(ob_stream_profile *profile, ob_disparity_param param, ob_error **error);

orbbec_camera/SDK/include/libobsensor/h/Utils.h

@@ -19,25 +19,22 @@ extern "C" {
  *
  * @return bool Transform result
  */
-OB_EXPORT bool ob_transformation_3d_to_3d(const OBPoint3f source_point3f, OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error) ;
+OB_EXPORT bool ob_transformation_3d_to_3d(const OBPoint3f source_point3f, OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error);
-
 
 /**
  * @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[in] source_intrinsic Source intrinsic parameters
- * @param[in] source_distortion Source distortion parameters
  * @param[in] source_point2f Source 2d point value
  * @param[in] source_depth_pixel_value The depth of sourcePoint2f in millimeters
+ * @param[in] source_intrinsic Source intrinsic parameters
  * @param[in] extrinsic Transformation matrix from source to target
  * @param[out] target_point3f Target 3d point value
  * @param[out] error Pointer to an error object that will be set if an error occurs.
  *
  * @return bool Transform result
  */
-OB_EXPORT bool ob_transformation_2d_to_3d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic, 
+OB_EXPORT bool ob_transformation_2d_to_3d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
-                                         OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error); 
+                                          OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error);
-
 
 /**
  * @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
@@ -69,46 +66,59 @@ OB_EXPORT bool ob_transformation_3d_to_2d(const OBPoint3f source_point3f, const
  *
  * @return bool Transform result
  */
-OB_EXPORT bool ob_transformation_2d_to_2d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic, 
+OB_EXPORT bool ob_transformation_2d_to_2d(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,
+                                          const OBCameraDistortion source_distortion, const OBCameraIntrinsic target_intrinsic,
-                                        OBExtrinsic extrinsic, OBPoint2f *target_point2f, ob_error **error);
+                                          const OBCameraDistortion target_distortion, OBExtrinsic extrinsic, OBPoint2f *target_point2f, ob_error **error);
 
-// \deprecated This function is deprecated and will be removed in a future version.  
+// \deprecated This function is deprecated and will be removed in a future version.
 OB_EXPORT ob_frame *transformation_depth_frame_to_color_camera(ob_device *device, ob_frame *depth_frame, uint32_t target_color_camera_width,
-                                                     uint32_t target_color_camera_height, ob_error **error);
+                                                               uint32_t target_color_camera_height, ob_error **error);
 
-// \deprecated This function is deprecated and will be removed in a future version.  
+// \deprecated This function is deprecated and will be removed in a future version.
 OB_EXPORT bool transformation_init_xy_tables(const ob_calibration_param calibration_param, const ob_sensor_type sensor_type, float *data, uint32_t *data_size,
-                                   ob_xy_tables *xy_tables, ob_error **error);
+                                             ob_xy_tables *xy_tables, ob_error **error);
 
-// \deprecated This function is deprecated and will be removed in a future version.  
+// \deprecated This function is deprecated and will be removed in a future version.
 OB_EXPORT void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error);
 
-// \deprecated This function is deprecated and will be removed in a future version.  
+// \deprecated This function is deprecated and will be removed in a future version.
-OB_EXPORT void transformation_depth_to_rgbd_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data,
+OB_EXPORT void transformation_depth_to_rgbd_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data,
-                                             ob_error **error);
+                                                       void *pointcloud_data, ob_error **error);
 
-// \deprecated This function is deprecated and will be removed in a future version.  
+// \deprecated This function is deprecated and will be removed in a future version.
 //             Use the ob_transformation_3d_to_3d instead.
 OB_EXPORT bool ob_calibration_3d_to_3d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type,
-                             const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
+                                       const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
 
-// \deprecated This function is deprecated and will be removed in a future version.  
+// \deprecated This function is deprecated and will be removed in a future version.
 //             Use the ob_transformation_2d_to_3d instead.
 OB_EXPORT bool ob_calibration_2d_to_3d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
-                             const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
+                                       const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f,
+                                       ob_error **error);
 
-// \deprecated This function is deprecated and will be removed in a future version.  
+// \deprecated This function is deprecated and will be removed in a future version.
 //             Use the ob_transformation_3d_to_2d instead.
 OB_EXPORT bool ob_calibration_3d_to_2d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type,
-                             const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error);
+                                       const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error);
 
-// \deprecated This function is deprecated and will be removed in a future version.  
+// \deprecated This function is deprecated and will be removed in a future version.
 //             Use the ob_transformation_2d_to_2d instead.
 OB_EXPORT bool ob_calibration_2d_to_2d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
-                             const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error);
+                                       const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point2f *target_point2f,
-
+                                       ob_error **error);
-
+/**
+ * @brief save point cloud to ply file.
+ *
+ * @param[in] file_name Point cloud save path
+ * @param[in] frame Point cloud frame
+ * @param[in] save_binary Binary or textual,true: binary, false: textual
+ * @param[in] use_mesh Save mesh or not, true: save as mesh, false: not save as mesh
+ * @param[in] mesh_threshold Distance threshold for creating faces in point cloud,default value :50
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return bool save point cloud result
+ */
+OB_EXPORT bool ob_save_pointcloud_to_ply(const char *file_name, ob_frame *frame, bool save_binary, bool use_mesh, float mesh_threshold, ob_error **error);
 #ifdef __cplusplus
 }
 #endif

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
+     * @tparam T  Given type.
-     * @return bool return result
+     * @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;
+        ob_error *error  = NULL;
-        bool result =  ob_transformation_3d_to_3d(source_point3f, extrinsic, target_point3f, &error);
+        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;
+        ob_error *error  = NULL;
-        bool result = ob_transformation_2d_to_3d(source_point2f, source_depth_pixel_value, source_intrinsic, extrinsic, target_point3f, &error);
+        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) {
+                                     OBExtrinsic extrinsic, OBPoint2f *target_point2f) {
-        ob_error *error = NULL;
+        ob_error *error  = NULL;
-        bool result = ob_transformation_3d_to_2d(source_point3f, target_intrinsic, target_distortion, extrinsic, target_point2f, &error);
+        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;
+        ob_error *error  = NULL;
-        bool result = ob_calibration_3d_to_3d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint3f, &error);
+        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;
+        ob_error *error  = NULL;
-        bool result = ob_calibration_3d_to_2d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint2f, &error);
+        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;
+        ob_error *error  = NULL;
-        bool result = transformation_init_xy_tables(calibrationParam, sensorType, data, dataSize, xyTables, &error);
+        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

orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.2.8"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.1"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.2.8" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.1" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/arm64/extensions/depthengine/libdepthengine.so

@@ -0,0 +1 @@
+libdepthengine.so.2.0

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so

@@ -0,0 +1 @@
+libOrbbecSDK.so.2

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2

@@ -0,0 +1 @@
+libOrbbecSDK.so.2.4.1

orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.2.8"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.1"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.2.8" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.1" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/x64/extensions/depthengine/libdepthengine.so

@@ -0,0 +1 @@
+libdepthengine.so.2.0

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so

@@ -0,0 +1 @@
+libOrbbecSDK.so.2

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2

@@ -0,0 +1 @@
+libOrbbecSDK.so.2.4.1

orbbec_camera/scripts/99-obsensor-libusb.rules

@@ -1,4 +1,4 @@
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0501", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Bootloader Device"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0501", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Bootloader Device"
 
 # UVC Modules
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0635", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto"
@@ -11,25 +11,33 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0537", MODE:="066
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0669", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto-mega"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="066b", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto Bolt"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0660", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Astra 2"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0670", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0670", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 2"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0671", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2 XL"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0671", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 2 XL"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0673", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2 L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0673", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 2 L"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0675", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2 VL"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0675", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 2 VL"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0800", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 335"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0800", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 335"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0801", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 330"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0801", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 330"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0802", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini dm330"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0802", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini dm330"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0803", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 336"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0803", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 336"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0804", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 335L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0804", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 335L"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0805", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 330L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0805", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 330L"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0806", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini dm330L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0806", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini dm330L"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0807", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 336L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0807", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 336L"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080b", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 335Lg"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080b", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 335Lg"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080d", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 336Lg"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080d", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 336Lg"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080e", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 335Le"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080e", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 335Le"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0810", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 336Le"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0810", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 336Le"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0674", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2 I"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0674", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 2 I"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0701", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Dabai DCL"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="069d", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Astra Pro2"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0808", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 215"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0809", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 210"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0a12", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Dabai A"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0a13", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Dabai AL"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0812", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 345"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0813", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini 345Lg"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0816", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="CAM-5330"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0817", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="CAM-5530"
 
 # OpenNI Modules
 SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra"