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update sdk version to v2.0.20

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This commit is contained in:
jj
2024-11-08 10:46:03 +08:00
parent cc8dcd8a82
commit 8fef735d43
18 changed files with 321 additions and 54 deletions
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orbbec_camera/SDK/include/libobsensor/h/Advanced.h
+75
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@@ -203,6 +203,81 @@ OB_EXPORT const char *ob_device_preset_list_get_name(const ob_device_preset_list
*/
OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *preset_list, const char *preset_name, ob_error **error);
/**
* @brief Check if the device supports the frame interleave feature.
*
* @param device The device object.
* @param error Pointer to an error object that will be set if an error occurs.
* @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 error Log error messages.
*/
OB_EXPORT void ob_device_load_frame_interleave(ob_device *device, const char *frame_interleave_name, ob_error **error);
/**
* @brief Get the available frame interleave list.
*
* @param device The device object.
* @param error Log error messages.
* @return The available frame interleave list.
*/
OB_EXPORT ob_device_frame_interleave_list *ob_device_get_available_frame_interleave_list(ob_device *device, ob_error **error);
/**
* @breif Get the current frame interleave name.
*
* @param device The device object.
* @param error Pointer to an error object that will be set if an error occurs.
* @return The current frame interleave name, it should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
*/
OB_EXPORT const char *ob_device_get_current_frame_interleave_name(const ob_device *device, ob_error **error);
/**
* @brief Delete the available frame interleave list.
*
* @param interleave_ae_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);
/**
* @brief Get the number of frame interleave in the frame interleave list.
*
* @param interleave_ae_list The available frame interleave list.
* @param error Log error messages.
* @return The number of frame interleave in the frame interleave list.
*/
OB_EXPORT uint32_t ob_device_frame_interleave_list_get_count(ob_device_frame_interleave_list *frame_interleave_list, ob_error **error);
/**
* @brief Get the name of frame interleave in the frame interleave list.
*
* @param interleave_ae_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..
*/
OB_EXPORT const char *ob_device_frame_interleave_list_get_name(ob_device_frame_interleave_list *frame_interleave_list, uint32_t index, ob_error **error);
/**
* @brief Check if the interleave ae list has the interleave ae.
*
* @param interleave_ae_list The available interleave ae list.
* @param interleave_ae_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.
*/
OB_EXPORT bool ob_device_frame_interleave_list_has_frame_interleave(ob_device_frame_interleave_list *frame_interleave_list, const char *frame_interleave_name,
ob_error **error);
// The following interfaces are deprecated and are retained here for compatibility purposes.
#define ob_depth_work_mode_list_count ob_depth_work_mode_list_get_count
#define ob_device_preset_list_count ob_device_preset_list_get_count
orbbec_camera/SDK/include/libobsensor/h/Context.h
+12
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@@ -102,6 +102,18 @@ 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 It is effective when the new device is created.
*
* @attention This interface is only available for Linux.
*
* @param[in] context Pointer to the context object
* @param[in] backend_type The backend type to be used.
* @param[out] error Pointer to an error object that will be populated if an error occurs during backend type setting
*/
OB_EXPORT void ob_set_uvc_backend_type(ob_context *context, ob_uvc_backend_type backend_type, ob_error **error);
/**
* @brief Set the global log level
*
orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+77 -44
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@@ -22,23 +22,24 @@ extern "C" {
#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_camera_param_list_t ob_camera_param_list;
typedef struct ob_sensor_t ob_sensor;
typedef struct ob_sensor_list_t ob_sensor_list;
typedef struct ob_stream_profile_t ob_stream_profile;
typedef struct ob_stream_profile_list_t ob_stream_profile_list;
typedef struct ob_frame_t ob_frame;
typedef struct ob_filter_t ob_filter;
typedef struct ob_filter_list_t ob_filter_list;
typedef struct ob_pipeline_t ob_pipeline;
typedef struct ob_config_t ob_config;
typedef struct ob_depth_work_mode_list_t ob_depth_work_mode_list;
typedef struct ob_device_preset_list_t ob_device_preset_list;
typedef struct ob_filter_config_schema_list_t ob_filter_config_schema_list;
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_camera_param_list_t ob_camera_param_list;
typedef struct ob_sensor_t ob_sensor;
typedef struct ob_sensor_list_t ob_sensor_list;
typedef struct ob_stream_profile_t ob_stream_profile;
typedef struct ob_stream_profile_list_t ob_stream_profile_list;
typedef struct ob_frame_t ob_frame;
typedef struct ob_filter_t ob_filter;
typedef struct ob_filter_list_t ob_filter_list;
typedef struct ob_pipeline_t ob_pipeline;
typedef struct ob_config_t ob_config;
typedef struct ob_depth_work_mode_list_t ob_depth_work_mode_list;
typedef struct ob_device_preset_list_t ob_device_preset_list;
typedef struct ob_filter_config_schema_list_t ob_filter_config_schema_list;
typedef struct ob_device_frame_interleave_list_t ob_device_frame_interleave_list;
#define OB_WIDTH_ANY 0
#define OB_HEIGHT_ANY 0
@@ -543,21 +544,23 @@ typedef enum {
*/
typedef enum {
OB_SAMPLE_RATE_UNKNOWN = 0,
OB_SAMPLE_RATE_1_5625_HZ = 1, /**< 1.5625Hz */
OB_SAMPLE_RATE_3_125_HZ, /**< 3.125Hz */
OB_SAMPLE_RATE_6_25_HZ, /**< 6.25Hz */
OB_SAMPLE_RATE_12_5_HZ, /**< 12.5Hz */
OB_SAMPLE_RATE_25_HZ, /**< 25Hz */
OB_SAMPLE_RATE_50_HZ, /**< 50Hz */
OB_SAMPLE_RATE_100_HZ, /**< 100Hz */
OB_SAMPLE_RATE_200_HZ, /**< 200Hz */
OB_SAMPLE_RATE_500_HZ, /**< 500Hz */
OB_SAMPLE_RATE_1_KHZ, /**< 1KHz */
OB_SAMPLE_RATE_2_KHZ, /**< 2KHz */
OB_SAMPLE_RATE_4_KHZ, /**< 4KHz */
OB_SAMPLE_RATE_8_KHZ, /**< 8KHz */
OB_SAMPLE_RATE_16_KHZ, /**< 16KHz */
OB_SAMPLE_RATE_32_KHZ, /**< 32Hz */
OB_SAMPLE_RATE_1_5625_HZ = 1, /**< 1.5625Hz */
OB_SAMPLE_RATE_3_125_HZ = 2, /**< 3.125Hz */
OB_SAMPLE_RATE_6_25_HZ = 3, /**< 6.25Hz */
OB_SAMPLE_RATE_12_5_HZ = 4, /**< 12.5Hz */
OB_SAMPLE_RATE_25_HZ = 5, /**< 25Hz */
OB_SAMPLE_RATE_50_HZ = 6, /**< 50Hz */
OB_SAMPLE_RATE_100_HZ = 7, /**< 100Hz */
OB_SAMPLE_RATE_200_HZ = 8, /**< 200Hz */
OB_SAMPLE_RATE_500_HZ = 9, /**< 500Hz */
OB_SAMPLE_RATE_1_KHZ = 10, /**< 1KHz */
OB_SAMPLE_RATE_2_KHZ = 11, /**< 2KHz */
OB_SAMPLE_RATE_4_KHZ = 12, /**< 4KHz */
OB_SAMPLE_RATE_8_KHZ = 13, /**< 8KHz */
OB_SAMPLE_RATE_16_KHZ = 14, /**< 16KHz */
OB_SAMPLE_RATE_32_KHZ = 15, /**< 32Hz */
OB_SAMPLE_RATE_400_HZ = 16, /**< 400Hz*/
OB_SAMPLE_RATE_800_HZ = 17, /**< 800Hz*/
} OBIMUSampleRate,
OBGyroSampleRate, ob_gyro_sample_rate, OBAccelSampleRate, ob_accel_sample_rate, OB_SAMPLE_RATE;
@@ -566,14 +569,16 @@ typedef enum {
*/
typedef enum {
OB_GYRO_FS_UNKNOWN = -1,
OB_GYRO_FS_16dps = 1, /**< 16 degrees per second */
OB_GYRO_FS_31dps, /**< 31 degrees per second */
OB_GYRO_FS_62dps, /**< 62 degrees per second */
OB_GYRO_FS_125dps, /**< 125 degrees per second */
OB_GYRO_FS_250dps, /**< 250 degrees per second */
OB_GYRO_FS_500dps, /**< 500 degrees per second */
OB_GYRO_FS_1000dps, /**< 1000 degrees per second */
OB_GYRO_FS_2000dps, /**< 2000 degrees per second */
OB_GYRO_FS_16dps = 1, /**< 16 degrees per second */
OB_GYRO_FS_31dps = 2, /**< 31 degrees per second */
OB_GYRO_FS_62dps = 3, /**< 62 degrees per second */
OB_GYRO_FS_125dps = 4, /**< 125 degrees per second */
OB_GYRO_FS_250dps = 5, /**< 250 degrees per second */
OB_GYRO_FS_500dps = 6, /**< 500 degrees per second */
OB_GYRO_FS_1000dps = 7, /**< 1000 degrees per second */
OB_GYRO_FS_2000dps = 8, /**< 2000 degrees per second */
OB_GYRO_FS_400dps = 9, /**< 400 degrees per second */
OB_GYRO_FS_800dps = 10, /**< 800 degrees per second */
} OBGyroFullScaleRange,
ob_gyro_full_scale_range, OB_GYRO_FULL_SCALE_RANGE;
@@ -583,9 +588,13 @@ typedef enum {
typedef enum {
OB_ACCEL_FS_UNKNOWN = -1,
OB_ACCEL_FS_2g = 1, /**< 1x the acceleration of gravity */
OB_ACCEL_FS_4g, /**< 4x the acceleration of gravity */
OB_ACCEL_FS_8g, /**< 8x the acceleration of gravity */
OB_ACCEL_FS_16g, /**< 16x the acceleration of gravity */
OB_ACCEL_FS_4g = 2, /**< 4x the acceleration of gravity */
OB_ACCEL_FS_8g = 3, /**< 8x the acceleration of gravity */
OB_ACCEL_FS_16g = 4, /**< 16x the acceleration of gravity */
OB_ACCEL_FS_3g = 5, /**< 3x the acceleration of gravity */
OB_ACCEL_FS_6g = 6, /**< 6x the acceleration of gravity */
OB_ACCEL_FS_12g = 7, /**< 12x the acceleration of gravity */
OB_ACCEL_FS_24g = 8, /**< 24x the acceleration of gravity */
} OBAccelFullScaleRange,
ob_accel_full_scale_range, OB_ACCEL_FULL_SCALE_RANGE;
@@ -1590,6 +1599,31 @@ typedef enum {
} ob_frame_metadata_type,
OBFrameMetadataType;
/**
* @brief For Linux, there are two ways to access the UVC device, libuvc and v4l2. The backend type is used to select the backend to access the device.
*
*/
typedef enum {
/**
* @brief Auto detect system capabilities and device hint to select backend
*
*/
OB_UVC_BACKEND_TYPE_AUTO,
/**
* @brief Use libuvc backend to access the UVC device
*
*/
OB_UVC_BACKEND_TYPE_LIBUVC,
/**
* @brief Use v4l2 backend to access the UVC device
*
*/
OB_UVC_BACKEND_TYPE_V4L2,
} ob_uvc_backend_type,
OBUvcBackendType;
// 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
@@ -1753,4 +1787,3 @@ typedef void(ob_log_callback)(ob_log_severity severity, const char *message, voi
#endif
#pragma pack(pop)
orbbec_camera/SDK/include/libobsensor/h/Property.h
+15 -2
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@@ -1,4 +1,4 @@
// Copyright (c) Orbbec Inc. All Rights Reserved.
// Copyright (c) Orbbec Inc. All Rights Reserved.
// Licensed under the MIT License.
/**
@@ -447,6 +447,20 @@ typedef enum {
*/
OB_PROP_DEVICE_REPOWER_BOOL = 202,
/**
* @brief frame interleave config index
*/
OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT = 204,
/**
* @brief frame interleave enable (true:enable,false:disable)
*/
OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL = 205,
/**
* @brief laser pattern sync with delay(us)
*/
OB_PROP_FRAME_INTERLEAVE_LASER_PATTERN_SYNC_DELAY_INT = 206,
/**
* @brief Baseline calibration parameters
*/
@@ -771,4 +785,3 @@ typedef struct OBPropertyItem {
#ifdef __cplusplus
}
#endif
orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp
+25 -4
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@@ -44,7 +44,7 @@ public:
private:
ob_context *impl_ = nullptr;
DeviceChangedCallback deviceChangedCallback_;
static LogCallback logCallback_;
// static LogCallback logCallback_;
public:
/**
@@ -145,7 +145,22 @@ public:
}
/**
* @brief Set the level of the global log, which affects both the log level output to the console, output to the file and output the user defined callback.
* @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 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.
*/
void setUvcBackendType(OBUvcBackendType type) const {
ob_error *error = nullptr;
ob_set_uvc_backend_type(impl_, type, &error);
Error::handle(&error);
}
/**
* @brief Set the level of the global log, which affects both the log level output to the console, output to the file and output the user defined
* callback.
*
* @param severity The log output level.
*/
@@ -187,8 +202,8 @@ public:
*/
static void setLoggerToCallback(OBLogSeverity severity, LogCallback callback) {
ob_error *error = nullptr;
Context::logCallback_ = callback;
ob_set_logger_to_callback(severity, &Context::logCallback, &Context::logCallback_, &error);
Context::getLogCallback() = callback;
ob_set_logger_to_callback(severity, &Context::logCallback, &Context::getLogCallback(), &error);
Error::handle(&error);
}
@@ -223,6 +238,12 @@ private:
}
}
// Lazy initialization of the logcallback_. The purpose is to initialize logcallback_ in .hpp
static LogCallback& getLogCallback() {
static LogCallback logCallback_ = nullptr;
return logCallback_;
}
// for backward compatibility
#define enableMultiDeviceSync enableDeviceClockSync
};
orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp
+101 -1
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@@ -29,6 +29,7 @@ class SensorList;
class DevicePresetList;
class OBDepthWorkModeList;
class CameraParamList;
class DeviceFrameInterleaveList;
class Device {
public:
@@ -748,6 +749,53 @@ public:
Error::handle(&error);
}
/**
* @brief Check if the device supports the frame interleave feature.
*
* @return bool Returns true if the device supports the frame interleave feature.
*/
bool isFrameInterleaveSupported() const {
ob_error *error = nullptr;
bool ret = ob_device_is_frame_interleave_supported(impl_, &error);
Error::handle(&error);
return ret;
}
/**
* @brief Get current frame interleave name
* @return const char* return the current frame interleave name, it should be one of the frame interleave names returned by @ref
* getAvailableFrameInterleaveList.
*/
const char *getCurrentFrameInterleaveName() const {
ob_error *error = nullptr;
const char *name = ob_device_get_current_frame_interleave_name(impl_, &error);
Error::handle(&error);
return name;
}
/**
* @brief load the frame interleave according to frame interleave name.
* @param frameInterleaveName The frame interleave name to set. The name should be one of the frame interleave names returned by @ref
* getAvailableFrameInterleaveList.
*/
void loadFrameInterleave(const char *frameInterleaveName) const {
ob_error *error = nullptr;
ob_device_load_frame_interleave(impl_, frameInterleaveName, &error);
Error::handle(&error);
}
/**
* @brief Get available frame interleave list
*
* @return DeviceFrameInterleaveList return the available frame interleave list.
*/
std::shared_ptr<DeviceFrameInterleaveList> getAvailableFrameInterleaveList() const {
ob_error *error = nullptr;
auto list = ob_device_get_available_frame_interleave_list(impl_, &error);
Error::handle(&error);
return std::make_shared<DeviceFrameInterleaveList>(list);
}
private:
static void firmwareUpdateCallback(ob_fw_update_state state, const char *message, uint8_t percent, void *userData) {
auto device = static_cast<Device *>(userData);
@@ -1360,5 +1408,57 @@ public:
}
};
} // namespace ob
/**
* @brief Class representing a list of device Frame Interleave
*/
class DeviceFrameInterleaveList {
private:
ob_device_frame_interleave_list_t *impl_ = nullptr;
public:
explicit DeviceFrameInterleaveList(ob_device_frame_interleave_list_t *impl) : impl_(impl) {}
~DeviceFrameInterleaveList() noexcept {
ob_error *error = nullptr;
ob_delete_frame_interleave_list(impl_, &error);
Error::handle(&error, false);
}
/**
* @brief Get the number of device frame interleave in the list
*
* @return uint32_t the number of device frame interleave in the list
*/
uint32_t getCount() {
ob_error *error = nullptr;
auto count = ob_device_frame_interleave_list_get_count(impl_, &error);
Error::handle(&error);
return count;
}
/**
* @brief Get the name of the device frame interleave at the specified index
*
* @param index the index of the device frame interleave
* @return const char* the name of the device frame interleave
*/
const char *getName(uint32_t index) {
ob_error *error = nullptr;
const char *name = ob_device_frame_interleave_list_get_name(impl_, index, &error);
Error::handle(&error);
return name;
}
/**
* @brief check if the frame interleave list contains the special name frame interleave.
* @param name The name of the frame interleave
* @return bool Returns true if the special name is found in the frame interleave list, otherwise returns false.
*/
bool hasFrameInterleave(const char *name) {
ob_error *error = nullptr;
auto result = ob_device_frame_interleave_list_has_frame_interleave(impl_, name, &error);
Error::handle(&error);
return result;
}
};
} // namespace ob
orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp
+15 -2
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@@ -426,6 +426,20 @@ public:
OBStreamType getAlignToStreamType() {
return static_cast<OBStreamType>(static_cast<int>(getConfigValue("AlignType")));
}
/**
* @brief Sets whether the output frame resolution should match the target resolution.
* When enabled, the output frame resolution will be adjusted to match (same as) the target resolution.
* When disabled, the output frame resolution will match the original resolution while maintaining
* the aspect ratio of the target resolution.
*
*
* @param state If true, output frame resolution will match the target resolution; otherwise, it will
* maintain the original resolution with the target's aspect ratio.
*/
void setMatchTargetResolution(bool state) {
setConfigValue("MatchTargetRes", state);
}
};
/**
@@ -942,7 +956,7 @@ public:
class OBFilterList {
private:
ob_filter_list_t* impl_;
ob_filter_list_t *impl_;
public:
explicit OBFilterList(ob_filter_list_t *impl) : impl_(impl) {}
@@ -1010,4 +1024,3 @@ template <typename T> bool Filter::is() {
}
} // namespace ob
orbbec_camera/SDK/include/libobsensor/hpp/Types.hpp
+1 -1
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@@ -2,4 +2,4 @@
// Licensed under the MIT License.
#pragma once
// empty file, leave here for backwards compatibility
#include <libobsensor/h/ObTypes.h>
orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so
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