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update SDK to v1.7.1

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This commit is contained in:
Joe Dong
2023-09-05 16:20:26 +08:00
parent 0d79cfe098
commit 99e1baee8d
21 changed files with 621 additions and 71 deletions
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orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp
+15 -4
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@@ -38,6 +38,17 @@ public:
*/
std::shared_ptr<DeviceList> queryDeviceList();
/**
* @brief enable or disable net device enumeration.
* @brief after enable, the net device will be discovered automatically and can be retrieved by @ref queryDeviceList. The default state can be set in the
* configuration file.
*
* @attention Net device enumeration by gvcp protocol, if the device is not in the same subnet as the host, it will be discovered but cannot be connected.
*
* @param[out] enable true to enable, false to disable
*/
void enableNetDeviceEnumeration(bool enable);
/**
* @brief Creates a network device object.
*
@@ -65,12 +76,12 @@ public:
void setDeviceChangedCallback(DeviceChangedCallback callback);
/**
* @brief Activates the multi-device synchronization function to synchronize the clock of the created device (the device needs to support this function).
* @brief Activates device clock synchronization to synchronize the clock of the host and all created devices (if supported).
*
* @param repeatInterval The synchronization time interval (unit: ms; if repeatInterval=0, it means that it will only be synchronized once and will not be
* executed regularly).
* @param repeatInterval The interval for auto-repeated synchronization, in milliseconds. If the value is 0, synchronization is performed only once.
*/
void enableMultiDeviceSync(uint64_t repeatInterval);
void enableDeviceClockSync(uint64_t repeatInterval);
#define enableMultiDeviceSync enableDeviceClockSync
/**
* @brief Frees idle memory from the internal frame memory pool.
orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp
+155 -16
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@@ -299,13 +299,6 @@ public:
*/
bool isPropertySupported(OBPropertyID propertyId, OBPermissionType permission);
/**
* @brief Synchronize the device time (synchronize local system time to device)
*
* @return The command (round trip time, rtt)
*/
uint64_t syncDeviceTime();
/**
* @brief Upgrade the device firmware
*
@@ -315,6 +308,17 @@ public:
*/
void deviceUpgrade(const char *filePath, DeviceUpgradeCallback callback, bool async = true);
/**
* \if English
* @brief Upgrade the device firmware
*
* @param fileData Firmware file data
* @param fileSize Firmware file size
* @param callback Firmware upgrade progress and status callback
* @param async Whether to execute asynchronously
*/
void deviceUpgradeFromData(const char *fileData, uint32_t fileSize, DeviceUpgradeCallback callback, bool async = true);
/**
* @brief Send files to the specified path on the device side [Asynchronouscallback]
*
@@ -354,9 +358,11 @@ public:
void writeAuthorizationCode(const char *authCodeStr);
/**
* @brief Get the original parameter list of camera calibration saved in the device. The parameters in the list do not correspond to the current
* open-current configuration. You need to select the parameters according to the actual situation, and may need to do scaling, mirroring and other
* processing. Non-professional users are recommended to use the Pipeline::getCameraParam() interface.
* @brief Get the original parameter list of camera calibration saved in the device.
*
* @attention The parameters in the list do not correspond to the current open-current configuration. You need to select the parameters according to the
* actual situation, and may need to do scaling, mirroring and other processing. Non-professional users are recommended to use the
* Pipeline::getCameraParam() interface.
*
* @return std::shared_ptr<CameraParamList> camera parameter list
*/
@@ -406,25 +412,123 @@ public:
*/
void reboot(uint32_t delayMs);
/**
* @brief Synchronize the device time (synchronize local system time to device)
* @deprecated This interface is deprecated, please use @ref timerSyncWithHost instead.
* @return The command (round trip time, rtt)
*/
DEPRECATED uint64_t syncDeviceTime();
/**
* @brief get the current device synchronization configuration
* @brief Device synchronization: including exposure synchronization function and multi-camera synchronization function of different sensors within a single
* machine
*
* @deprecated This interface is deprecated, please use @ref getMultiDeviceSyncConfig instead.
*
* @return OBDeviceSyncConfig return the device synchronization configuration
*/
OBDeviceSyncConfig getSyncConfig();
DEPRECATED OBDeviceSyncConfig getSyncConfig();
/**
* @brief Set the device synchronization configuration
* @brief Used to configure the exposure synchronization function and multi-camera synchronization function of different sensors in a single machine
*
* @deprecated This interface is deprecated, please use @ref setMultiDeviceSyncConfig instead.
*
* @attention Calling this function will directly write the configuration to the device Flash, and it will still take effect after the device restarts. To
* avoid affecting the Flash lifespan, do not update the configuration frequently.
*
* @param deviceSyncConfig Device synchronization configuration
*/
void setSyncConfig(const OBDeviceSyncConfig &deviceSyncConfig);
DEPRECATED void setSyncConfig(const OBDeviceSyncConfig &deviceSyncConfig);
/**
* @brief Get the supported multi device sync mode bitmap of the device.
* @brief For example, if the return value is 0b00001100, it means the device supports @ref OB_MULTI_DEVICE_SYNC_MODE_PRIMARY and @ref
* OB_MULTI_DEVICE_SYNC_MODE_SECONDARY. User can check the supported mode by the code:
* ```c
* if(supported_mode_bitmap & OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN){
* //support OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN
* }
* if(supported_mode_bitmap & OB_MULTI_DEVICE_SYNC_MODE_STANDALONE){
* //support OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
* }
* // and so on
* ```
* @return uint16_t return the supported multi device sync mode bitmap of the device.
*/
uint16_t getSupportedMultiDeviceSyncModeBitmap();
/**
* @brief set the multi device sync configuration of the device.
*
* @param[in] config The multi device sync configuration.
*/
void setMultiDeviceSyncConfig(const OBMultiDeviceSyncConfig &config);
/**
* @brief get the multi device sync configuration of the device.
*
* @return OBMultiDeviceSyncConfig return the multi device sync configuration of the device.
*/
OBMultiDeviceSyncConfig getMultiDeviceSyncConfig();
/**
* @brief send the capture command to the device.
* @brief The device will start one time image capture after receiving the capture command when it is in the @ref
* OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING
*
* @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 framesPerTriggerForTriggeringMode.
* @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.
*/
void triggerCapture();
/**
* @brief set the timestamp reset configuration of the device.
*/
void setTimestampResetConfig(const OBDeviceTimestampResetConfig &config);
/**
* @brief get the timestamp reset configuration of the device.
*
* @return OBDeviceTimestampResetConfig return the timestamp reset configuration of the device.
*/
OBDeviceTimestampResetConfig getTimestampResetConfig();
/**
* @brief send the timestamp reset command to the device.
* @brief The device will reset the timer for calculating the timestamp for output frames to 0 after receiving the timestamp reset command when the
* timestamp reset function is enabled. The timestamp reset function can be enabled by call @ref ob_device_set_timestamp_reset_config.
* @brief Before calling this function, user should call @ref ob_device_set_timestamp_reset_config to disable the timestamp reset function (It is not
* required for some models, but it is still recommended to do so for code compatibility).
*
* @attention If the stream of the device is started, the timestamp of the continuous frames output by the stream will jump once after the timestamp reset.
* @attention Due to the timer of device is not high-accuracy, the timestamp of the continuous frames output by the stream will drift after a long time.
* User can call this function periodically to reset the timer to avoid the timestamp drift, the recommended interval time is 60 minutes.
*/
void timestampReset();
/**
* @brief Alias for @ref timestampReset since it is more accurate.
*/
#define timerReset timestampReset
/**
* @brief synchronize the timer of the device with the host.
* @brief After calling this function, the timer of the device will be synchronized with the host. User can call this function to multiple devices to
* synchronize all timers of the devices.
*
* @attention If the stream of the device is started, the timestamp of the continuous frames output by the stream will may jump once after the timer
* sync.
* @attention Due to the timer of device is not high-accuracy, the timestamp of the continuous frames output by the stream will drift after a long time.
* User can call this function periodically to synchronize the timer to avoid the timestamp drift, the recommended interval time is 60 minutes.
*
*/
void timerSyncWithHost();
friend class Pipeline;
friend class Recorder;
@@ -493,10 +597,20 @@ public:
/**
* @brief Get the connection type of the device
*
* @return const char* 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", "USB3.2",
* "Ethernet"
*/
const char *connectionType();
/**
* @brief Get the IP address of the device
*
* @attention Only valid for network devices, otherwise it will return "0.0.0.0".
*
* @return const char* the IP address of the device, such as "192.168.1.10"
*/
const char *ipAddress();
/**
* @brief Get the version number of the hardware
*
@@ -512,7 +626,14 @@ public:
const char *supportedMinSdkVersion();
/**
* @brief Get the chip type name
* @brief Get the minimum version number of the SDK supported by the device
*
* @return const char* returns the minimum SDK version number supported by the device
*/
const char *extensionInfo();
/**
* @brief Get chip type name
*
* @return const char* the chip type name
*/
@@ -588,6 +709,24 @@ public:
*/
const char *serialNumber(uint32_t index);
/**
* @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"
*/
const char *connectionType(uint32_t index);
/**
* @brief get the ip address of the device at the specified index
*
* @attention Only valid for network devices, otherwise it will return "0.0.0.0".
*
* @param index the index of the device
* @return const char* the ip address of the device
*/
const char *ipAddress(uint32_t index);
/**
* @brief Get the device object at the specified index
*
@@ -679,9 +818,9 @@ public:
* @brief Get the name of the depth work mode at the specified index
*
* @param index the index of the depth work mode
* @return std::string the name of the depth work mode
* @return const char* the name of the depth work mode
*/
std::string getName(uint32_t index);
const char *getName(uint32_t index);
/**
* @brief Get the OBDepthWorkMode object at the specified index
orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp
+13
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@@ -132,6 +132,19 @@ public:
*/
OBCameraParam getCameraParam();
/**
* @brief Get camera parameters by entering color and depth resolution
* @attention If D2C is enabled, it will return the camera parameters after D2C, if not, it will return to the default parameters
*
* @param colorWidth Width of color resolution
* @param colorHeight High of color resolution
* @param depthWidth Width of depth resolution
* @param depthHeight High of depth resolution
*
* @return OBCameraParam returns camera parameters
*/
OBCameraParam getCameraParamWithProfile(uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight);
/**
* @brief Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution
*