update 2.0.3

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

@@ -396,6 +396,16 @@ OB_EXPORT const char *ob_device_info_get_ip_address(const ob_device_info *info,
  */
 OB_EXPORT const char *ob_device_info_get_hardware_version(const ob_device_info *info, ob_error **error);
 
+/**
+ * @brief Check if the device extension information exists.
+ *
+ * @param device The device object.
+ * @param info_key The key of the device extension information.
+ * @param error Pointer to an error object that will be set if an error occurs.
+ * @return bool Whether the device extension information exists.
+ */
+OB_EXPORT bool ob_device_is_extension_info_exist(const ob_device *device, const char *info_key, ob_error **error);
+
 /**
  * @brief Get the device extension information.
  * @brief Extension information is a set of key-value pair of string, user cat get the information by the key.

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

@@ -626,27 +626,10 @@ OB_EXPORT void ob_frameset_push_frame(ob_frame *frameset, const ob_frame *frame,
 #define ob_gyro_frame_temperature ob_gyro_frame_get_temperature
 #define ob_frameset_get_frame_count ob_frameset_get_count
 
-#define ob_frame_time_stamp(frame, err)                                \
-    do {                                                               \
-        uint64_t timestamp_us = ob_frame_get_timestamp_us(frame, err); \
-        return timestamp_us / 1000;                                    \
-    } while(0);
-
-#define ob_frame_system_time_stamp(frame, err)                                       \
-    do {                                                                             \
-        uint64_t system_timestamp_us = ob_frame_get_system_timestamp_us(frame, err); \
-        return system_timestamp_us / 1000;                                           \
-    } while(0);
-
-#define ob_frame_set_system_time_stamp(frame, system_timestamp, err)           \
-    do {                                                                       \
-        ob_frame_set_system_timestamp_us(frame, system_timestamp * 1000, err); \
-    } while(0);
-
-#define ob_frame_set_device_time_stamp(frame, device_timestamp, err)    \
-    do {                                                                \
-        ob_frame_set_timestamp_us(frame, device_timestamp * 1000, err); \
-    } while(0);
+#define ob_frame_time_stamp(frame, err) (ob_frame_get_timestamp_us(frame, err))
+#define ob_frame_system_time_stamp(frame, err) (ob_frame_get_system_timestamp_us(frame, err))
+#define ob_frame_set_system_time_stamp(frame, system_timestamp, err) (ob_frame_set_system_timestamp_us(frame, system_timestamp * 1000, err))
+#define ob_frame_set_device_time_stamp(frame, device_timestamp, err) (ob_frame_set_timestamp_us(frame, device_timestamp * 1000, err))
 
 #ifdef __cplusplus
 }

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

@@ -685,7 +685,7 @@ typedef enum {
     OB_PRECISION_UNKNOWN,
     OB_PRECISION_COUNT,
 } OBDepthPrecisionLevel,
-    ob_depth_precision_level, OB_DEPTH_PRECISION_LEVEL;
+    ob_depth_precision_level, OB_DEPTH_PRECISION_LEVEL, OBDepthUnit, ob_depth_unit;
 
 /**
  * @brief disparity parameters for disparity based camera
@@ -1389,6 +1389,13 @@ typedef struct {
     const char             *desc;  ///< Description of the configuration item
 } OBFilterConfigSchemaItem, ob_filter_config_schema_item;
 
+/**
+ * @brief struct of serial number
+ */
+typedef struct {
+    char numberStr[16];
+} OBDeviceSerialNumber, ob_device_serial_number, OBSerialNumber, ob_serial_number;
+
 /**
  * @brief Frame metadata types
  * @brief The frame metadata is a set of meta info generated by the device for current individual frame.

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

@@ -691,6 +691,12 @@ typedef enum {
      */
     OB_PROP_COLOR_FOCUS_INT = 2038,
 
+    /**
+     * @brief Depth camera priority
+     *
+     */
+    OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT = 2052,
+
     /**
      * @brief Software disparity to depth
      */
@@ -739,6 +745,7 @@ typedef enum {
 #define OB_PROP_LASER_ENERGY_LEVEL_INT OB_PROP_LASER_POWER_LEVEL_CONTROL_INT
 #define OB_PROP_LASER_HW_ENERGY_LEVEL_INT OB_PROP_LASER_POWER_ACTUAL_LEVEL_INT
 #define OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL OB_PROP_DEVICE_USB2_REPEAT_IDENTIFY_BOOL
+#define OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL OB_PROP_DEPTH_SOFT_FILTER_BOOL
 
 /**
  * @brief The data type used to describe all property settings