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

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

@@ -97,14 +97,28 @@ public:
         return std::make_shared<DeviceInfo>(info);
     }
 
+    /**
+     * @brief Check if the extension information is exist
+     *
+     * @param infoKey The key of the extension information
+     * @return bool Whether the extension information exists
+     */
+    bool isExtensionInfoExist(const std::string &infoKey) const {
+        ob_error *error = nullptr;
+        auto      exist = ob_device_is_extension_info_exist(impl_, infoKey.c_str(), &error);
+        Error::handle(&error);
+        return exist;
+    }
+
     /**
      * @brief Get information about extensions obtained from SDK supported by the device
      *
+     * @param infoKey The key of the extension information
      * @return const char* Returns extended information about the device
      */
-    const char *getExtensionInfo(const char *info_key) const {
+    const char *getExtensionInfo(const std::string &infoKey) const {
         ob_error   *error = nullptr;
-        const char *info  = ob_device_get_extension_info(impl_, info_key, &error);
+        const char *info  = ob_device_get_extension_info(impl_, infoKey.c_str(), &error);
         Error::handle(&error);
         return info;
     }
@@ -713,6 +727,24 @@ public:
         return state;
     }
 
+    /**
+     * @brief Send data to the device and receive data from the device.
+     * @brief This is a factory and debug function, which can be used to send and receive data from the device. The data format is secret and belongs to the
+     * device vendor.
+     *
+     * @attention The send and receive data buffer are managed by the caller, the receive data buffer should be allocated at 1024 bytes or larger.
+     *
+     * @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.
+     */
+    void sendAndReceiveData(const uint8_t *sendData, uint32_t sendDataSize, uint8_t *receiveData, uint32_t *receiveDataSize) const {
+        ob_error *error = nullptr;
+        ob_device_send_and_receive_data(impl_, sendData, sendDataSize, receiveData, receiveDataSize, &error);
+        Error::handle(&error);
+    }
+
 private:
     static void firmwareUpdateCallback(ob_fw_update_state state, const char *message, uint8_t percent, void *userData) {
         auto device = static_cast<Device *>(userData);
@@ -834,8 +866,8 @@ 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", "USB3.2",
-     * "Ethernet"
+     * @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 {
         ob_error   *error = nullptr;

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

@@ -796,7 +796,7 @@ public:
         init(impl);
     }
 
-     ~NoiseRemovalFilter() noexcept = default;
+    ~NoiseRemovalFilter() noexcept = default;
 
     /**
      * @brief Set the noise removal filter params.
@@ -922,16 +922,76 @@ public:
     }
 };
 
+/**
+ * @brief Depth to disparity or disparity to depth
+ */
+class DisparityTransform : public Filter {
+public:
+    DisparityTransform(const std::string &activationKey = "") {
+        ob_error *error = nullptr;
+        auto      impl  = ob_create_private_filter("DisparityTransform", activationKey.c_str(), &error);
+        Error::handle(&error);
+        init(impl);
+    }
+
+    ~DisparityTransform() noexcept = default;
+};
+
+class OBFilterList {
+private:
+    ob_filter_list_t* impl_;
+
+public:
+    explicit OBFilterList(ob_filter_list_t *impl) : impl_(impl) {}
+
+    ~OBFilterList() noexcept {
+        ob_error *error = nullptr;
+        ob_delete_filter_list(impl_, &error);
+        Error::handle(&error, false);
+    }
+
+    /**
+     * @brief Get the number of filters
+     *
+     * @return uint32_t The number of filters
+     */
+    uint32_t getCount() const {
+        ob_error *error = nullptr;
+        auto      count = ob_filter_list_get_count(impl_, &error);
+        Error::handle(&error);
+        return count;
+    }
+
+    /**
+     * @brief Get the Filter object at the specified index
+     *
+     * @param index The filter index. The range is [0, count-1]. If the index exceeds the range, an exception will be thrown.
+     * @return std::shared_ptr<Filter> The filter object.
+     */
+    std::shared_ptr<Filter> getFilter(uint32_t index) {
+        ob_error *error  = nullptr;
+        auto      filter = ob_filter_list_get_filter(impl_, index, &error);
+        Error::handle(&error);
+        return std::make_shared<Filter>(filter);
+    }
+
+public:
+    // The following interfaces are deprecated and are retained here for compatibility purposes.
+    uint32_t count() const {
+        return getCount();
+    }
+};
+
 /**
  * @brief Define the Filter type map
  */
-static const std::unordered_map<std::string, std::type_index> typeMap = {
+static const std::unordered_map<std::string, std::type_index> obFilterTypeMap = {
     { "PointCloudFilter", typeid(PointCloudFilter) },   { "Align", typeid(Align) },
     { "FormatConverter", typeid(FormatConvertFilter) }, { "HDRMerge", typeid(HdrMerge) },
     { "SequenceIdFilter", typeid(SequenceIdFilter) },   { "DecimationFilter", typeid(DecimationFilter) },
     { "ThresholdFilter", typeid(ThresholdFilter) },     { "SpatialAdvancedFilter", typeid(SpatialAdvancedFilter) },
     { "HoleFillingFilter", typeid(HoleFillingFilter) }, { "NoiseRemovalFilter", typeid(NoiseRemovalFilter) },
-    { "TemporalFilter", typeid(TemporalFilter) }
+    { "TemporalFilter", typeid(TemporalFilter) },       { "DisparityTransform", typeid(DisparityTransform) }
 };
 
 /**
@@ -939,8 +999,8 @@ static const std::unordered_map<std::string, std::type_index> typeMap = {
  */
 template <typename T> bool Filter::is() {
     std::string name = type();
-    auto        it   = typeMap.find(name);
-    if(it != typeMap.end()) {
+    auto        it   = obFilterTypeMap.find(name);
+    if(it != obFilterTypeMap.end()) {
         return std::type_index(typeid(T)) == it->second;
     }
     return false;

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

@@ -94,77 +94,6 @@ public:
         return result;
     }
 
-    /**
-     * @brief Transforms the depth frame into the geometry of the color camera.
-     *
-     * @param device Device handle
-     * @param depthFrame Input depth frame
-     * @param targetColorCameraWidth Target color camera width
-     * @param targetColorCameraHeight Target color camera height
-     *
-     * @return std::shared_ptr<ob::Frame> Transformed depth frame
-     */
-    static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
-                                                                            uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight) {
-        ob_error *error = NULL;
-
-        // 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);
-        Error::handle(&error);
-        return std::make_shared<ob::Frame>(result);
-    }
-
-    /**
-     * @brief Init transformation tables
-     *
-     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
-     * @param sensorType sensor type
-     * @param data input data,needs to be allocated externally.During initialization, the external allocation size is 'dataSize', for example, dataSize = 1920 *
-     * 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
-     * @param dataSize input data size
-     * @param xyTables output xy tables
-     *
-     * @return bool Transform result
-     */
-    static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
-                                           OBXYTables *xyTables) {
-        ob_error *error = NULL;
-        bool result = transformation_init_xy_tables(calibrationParam, sensorType, data, dataSize, xyTables, &error);
-        Error::handle(&error);
-        return result;
-    }
-
-    /**
-     * @brief Transform depth image to point cloud data
-     *
-     * @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
-     * @param depthImageData input depth image data
-     * @param pointCloudData output point cloud data
-     *
-     */
-    static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData) {
-        ob_error *error = NULL;
-        transformation_depth_to_pointcloud(xyTables, depthImageData, pointCloudData, &error);
-        Error::handle(&error, false);
-    }
-
-    /**
-     * @brief Transform depth image to RGBD point cloud data
-     *
-     * @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
-     * @param depthImageData input depth image data
-     * @param colorImageData input color image data (only RGB888 support)
-     * @param pointCloudData output RGBD point cloud data
-     *
-     */
-    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);
-    }
-
 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,
@@ -198,5 +127,37 @@ public:
         Error::handle(&error);
         return result;
     }
+
+    static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
+                                                                            uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight) {
+        ob_error *error = NULL;
+
+        // 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);
+        Error::handle(&error);
+        return std::make_shared<ob::Frame>(result);
+    }
+
+    static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
+                                           OBXYTables *xyTables) {
+        ob_error *error = NULL;
+        bool result = transformation_init_xy_tables(calibrationParam, sensorType, data, dataSize, xyTables, &error);
+        Error::handle(&error);
+        return result;
+    }
+
+    static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData) {
+        ob_error *error = NULL;
+        transformation_depth_to_pointcloud(xyTables, depthImageData, pointCloudData, &error);
+        Error::handle(&error, false);
+    }
+
+    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

orbbec_camera/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>orbbec_camera</name>
-  <version>2.0.2</version>
+  <version>2.0.3</version>
   <description>Orbbec Camera package</description>
   <maintainer email="mocun@orbbec.com">Joe Dong</maintainer>
   <license>Apache-2.0</license>

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -76,7 +76,6 @@ OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
       node_options_(node_options),
       config_path_(ament_index_cpp::get_package_share_directory("orbbec_camera") +
                    "/config/OrbbecSDKConfig_v1.0.xml"),
-      ctx_(std::make_unique<ob::Context>(config_path_.c_str())),
       logger_(this->get_logger()),
       extension_path_(ament_index_cpp::get_package_prefix("orbbec_camera") + "/lib/extensions") {
   init();
@@ -88,7 +87,6 @@ OBCameraNodeDriver::OBCameraNodeDriver(const std::string &node_name, const std::
       node_options_(node_options),
       config_path_(ament_index_cpp::get_package_share_directory("orbbec_camera") +
                    "/config/OrbbecSDKConfig_v1.0.xml"),
-      ctx_(std::make_unique<ob::Context>()),
       logger_(this->get_logger()),
       extension_path_(ament_index_cpp::get_package_prefix("orbbec_camera") + "/lib/extensions") {
   init();
@@ -114,7 +112,12 @@ void OBCameraNodeDriver::init() {
   signal(SIGFPE, signalHandler);   // float point exception
   signal(SIGILL, signalHandler);   // illegal instruction
   ob::Context::setExtensionsDirectory(extension_path_.c_str());
-  ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
+  if (config_path_.empty()) {
+    ctx_ = std::make_unique<ob::Context>();
+  } else {
+    ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
+  }
+
   auto log_level_str = declare_parameter<std::string>("log_level", "none");
   auto log_level = obLogSeverityFromString(log_level_str);
   connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));

orbbec_camera/tools/metadata_export_files.hpp

@@ -62,11 +62,7 @@ class MetadataExportFiles : public rclcpp::Node {
   }
 
   void load_parameters() {
-<<<<<<< HEAD
     std::ifstream file("src/OrbbecSDK_ROS2/orbbec_camera/config/metadataexport/metadata_export_params.json");
-=======
-    std::ifstream file("src/OrbbecSDK_ROS2/orbbec_camera/config/metadata_export_params.json");
->>>>>>> e2a2e1a47ad1fe03adce9baec868053e3fe5e4ff
     if (!file.is_open()) {
       RCLCPP_ERROR(this->get_logger(), "Failed to open JSON file.");
       return;