i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

update OrbbecSDK version to 2.8.1

Browse Source
This commit is contained in:
ob-yalian
2026-04-01 15:30:29 +08:00
parent e043e5192f
commit ad55f90bcc
19 changed files with 280 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+148 -10
View File
@@ -74,10 +74,45 @@ typedef enum {
* @brief error code
*/
typedef enum {
OB_STATUS_OK = 0, /**< status ok */
OB_STATUS_ERROR = 1, /**< status error */
OB_STATUS_OK = 0, /**< Status OK (success) */
OB_STATUS_ERROR = 1, /**< Status error (legacy failure) */
OB_ERROR_UNKNOWN = 1, /**< Alias for OB_STATUS_ERROR */
// // 00001 ~ 0999: Common errors (reserved range)
OB_ERROR_INVALID_PARAMETER = 100, /**< One or more parameters are invalid */
OB_ERROR_INVALID_DATA = 101, /**< Data is invalid or corrupted */
OB_ERROR_INVALID_DATA_LEN = 102, /**< Data length is invalid */
OB_ERROR_BUFFER_TOO_SMALL = 103, /**< Target buffer is too small to hold data */
OB_ERROR_MEMORY = 104, /**< Memory allocation or access failure */
OB_ERROR_WAIT_TIMEOUT = 105, /**< Operation timed out */
OB_ERROR_NOT_IMPLEMENTED = 106, /**< Functionality not implemented in SDK */
OB_ERROR_UNSUPPORTED_OPERATION = 107, /**< Functionality not implemented in SDK */
OB_ERROR_WRONG_API_CALL_SEQUENCE = 108, /**< API called in an invalid order or state */
OB_ERROR_NO_DEVICE = 109, /**< No available device found */
OB_ERROR_DEVICE_CONNECT_FAILED = 110, /**< Failed to connect to device */
OB_ERROR_DEVICE_ACCESS_DENIED = 111, /**< Access to device denied */
OB_ERROR_DEVICE_DISCONNECTED = 112, /**< Device was disconnected */
OB_ERROR_DEVICE_UNAVAILABLE = 113, /**< Device was unavailable */
OB_ERROR_ITEM_NOT_FOUND = 114, /**< Specified item or component not found */
OB_ERROR_IO_FAILURE = 115, /**< I/O operation failed */
OB_ERROR_RESOURCE_BUSY = 116, /**< Resource is busy or locked by another operation */
// - Pipeline/Frame
OB_ERROR_FRAME_QUEUE_OVERFLOW = 200, /**< Frame queue overflow */
OB_ERROR_FRAME_DATA = 201, /**< Frame data is invalid or corrupted */
OB_ERROR_FRAME_DATA_LEN = 202, /**< Frame data length is invalid */
// 1000 ~ 1999: Device errors
OB_ERROR_DEVICE_UNKNOWN = 1000, /**< Unknown device error */
OB_ERROR_DEVICE_RESPONSE_BAD_MAGIC = 1001, /**< Device response has invalid magic number */
OB_ERROR_DEVICE_RESPONSE_WRONG_ID = 1002, /**< Device response contains incorrect ID */
OB_ERROR_DEVICE_RESPONSE_WRONG_OPCODE = 1003, /**< Device response contains incorrect opcode */
OB_ERROR_DEVICE_RESPONSE_WRONG_DATA_SIZE = 1004, /**< Device response has incorrect data size */
OB_ERROR_DEVICE_RESPONSE_ERROR = 1005, /**< Device response indicates an error */
OB_ERROR_DEVICE_RESPONSE_WARNING = 1006, /**< Device response indicates a warning */
} OBStatus,
ob_status;
OBErrorCode, ob_status, ob_error_code;
/**
* @brief log level, the higher the level, the stronger the log filter
@@ -98,18 +133,22 @@ typedef enum {
* For detailed error API interface functions and error logs, please refer to the information of ob_error
*/
typedef enum {
OB_EXCEPTION_TYPE_UNKNOWN, /**< Unknown error, an error not clearly defined by the SDK */
OB_EXCEPTION_STD_EXCEPTION, /** < Standard exception, an error caused by the standard library */
OB_EXCEPTION_TYPE_CAMERA_DISCONNECTED, /**< Camera/Device has been disconnected, the camera/device is not available */
OB_EXCEPTION_TYPE_PLATFORM, /**< An error in the SDK adaptation platform layer, which means an error in the implementation of a specific system
platform */
OB_EXCEPTION_TYPE_INVALID_VALUE, /**< Invalid parameter type exception, need to check input parameter */
OB_EXCEPTION_TYPE_UNKNOWN, /**< Unknown error, an error not clearly defined by the SDK */
OB_EXCEPTION_STD_EXCEPTION, /**< Standard exception, an error caused by the standard library */
OB_EXCEPTION_TYPE_CAMERA_DISCONNECTED, /**< Camera/Device has been disconnected, the camera/device is not available */
OB_EXCEPTION_TYPE_PLATFORM, /**< An error in the SDK adaptation platform layer, which means an error in the
implementation of a specific system platform */
OB_EXCEPTION_TYPE_INVALID_VALUE, /**< Invalid parameter type exception, need to check input parameter */
OB_EXCEPTION_TYPE_WRONG_API_CALL_SEQUENCE, /**< Wrong API call sequence, the API is called in the wrong order or the wrong parameter is passed */
OB_EXCEPTION_TYPE_NOT_IMPLEMENTED, /**< SDK and firmware have not yet implemented this function or feature */
OB_EXCEPTION_TYPE_IO, /**< SDK access IO exception error */
OB_EXCEPTION_TYPE_MEMORY, /**< SDK access and use memory errors. For example, the frame fails to allocate memory */
OB_EXCEPTION_TYPE_UNSUPPORTED_OPERATION, /**< Unsupported operation type error by SDK or device */
OB_EXCEPTION_TYPE_ACCESS_DENIED, /**< Device access denied */
OB_EXCEPTION_TYPE_DEVICE_UNAVAILABLE, /**< Camera or Device is not available */
OB_EXCEPTION_TYPE_INVALID_DATA, /**< Runtime data is invalid, check data content or size */
OB_EXCEPTION_TYPE_NOT_FOUND, /**< The requested item was not found */
OB_EXCEPTION_TYPE_RESOURCE_BUSY, /**< Resource is busy or locked by another operation */
} OBExceptionType,
ob_exception_type;
@@ -688,6 +727,39 @@ typedef enum {
*/
typedef uint64_t OBDeviceState, ob_device_state;
/**
* @brief Pipeline issue location flags observed during streaming.
*/
typedef enum {
OB_PIPELINE_ISSUE_NONE = 0x00, /**< No issue observed */
OB_PIPELINE_ISSUE_SDK = 0x01, /**< Issue observed in SDK */
OB_PIPELINE_ISSUE_DRIVER = 0x02, /**< Issue observed in driver */
OB_PIPELINE_ISSUE_FW = 0x04, /**< Issue observed in device firmware */
OB_PIPELINE_ISSUE_HW = 0x08, /**< Issue observed in device hardware */
} OBPipelineIssue,
ob_pipeline_issue;
/**
* @brief SDK-defined pipeline status bits observed during streaming.
*/
#define OB_SDK_STATUS_FRAME_DROP_DATA (1ULL << 0) /**< Frame dropped due to data error */
#define OB_SDK_STATUS_FRAME_DROP_TIMESTAMP (1ULL << 1) /**< Frame dropped due to timestamp error */
#define OB_SDK_STATUS_FRAME_DROP_MATCH (1ULL << 2) /**< Frame dropped due to aggregation match failure */
#define OB_SDK_STATUS_FRAME_QUEUE_OVERFLOW (1ULL << 3) /**< Frame dropped due to queue overflow */
#define OB_SDK_STATUS_FRAME_WAIT_TIMEOUT (1ULL << 4) /**< Wait for frame timeout */
#define OB_SDK_STATUS_STREAM_NO_FRAME (1ULL << 5) /**< A stream has not received any frame for a prolonged period */
/**
* @brief Pipeline status observed during streaming.
*/
typedef struct {
OBPipelineIssue issue; /**< Issue location flags */
uint64_t sdkStatus; /**< SDK-defined bitmask composed of OB_SDK_STATUS_* macros */
uint64_t devStatus; /**< Device-specific diagnostic bits (not for application logic) */
uint64_t drvStatus; /**< Driver-specific diagnostic bits (not for application logic) */
uint64_t reserved[3]; /**< Reserved for future use */
} OBPipelineStatus, ob_pipeline_status;
/**
* @brief Temperature parameters of the device (unit: Celsius)
*/
@@ -1193,7 +1265,27 @@ typedef enum {
OBCmdVersion, ob_cmd_version;
/**
* @brief IP address configuration for network devices (IPv4)
* @brief IP address configuration for network devices (IPv4), used with property OB_STRUCT_DEVICE_IP_ADDR_CONFIG.
*
* @note Device support:
* - Femto Mega / Femto Mega I: only this structure is supported.
* - Gemini 335Le / Gemini 435Le with older firmware: only this structure is supported.
* - Gemini 335Le / Gemini 435Le with newer firmware: both this structure and @ref OBNetIpConfigV2 are supported;
* it is recommended to use @ref OBNetIpConfigV2 (property OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2) instead.
*
* @note How to choose between OBNetIpConfig and OBNetIpConfigV2:
* First check whether OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2 is supported by the device. If yes, use @ref OBNetIpConfigV2;
* otherwise fall back to this structure.
* Example:
* @code
* bool v2Supported = ob_device_is_property_supported(dev, OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2,
* OB_PERMISSION_READ_WRITE, &error);
* if(v2Supported) {
* // Use OBNetIpConfigV2 with OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2
* } else {
* // Use OBNetIpConfig with OB_STRUCT_DEVICE_IP_ADDR_CONFIG
* }
* @endcode
*/
typedef struct {
/**
@@ -1222,6 +1314,38 @@ typedef struct {
#define OBDeviceIpAddrConfig OBNetIpConfig
#define ob_device_ip_addr_config OBNetIpConfig
// IP bit masks
#define OB_NET_IP_FLAG_DHCP (0x01u)
#define OB_NET_IP_FLAG_PERSISTENT (0x02u)
/**
* @brief IP address configuration v2 for network devices (IPv4), used with property OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2.
*
* @note This is the recommended structure for Gemini 335Le / Gemini 435Le devices with newer firmware.
* It extends @ref OBNetIpConfig by replacing the single @c dhcp field with a @c flags bitmask that supports
* both DHCP mode and Persistent IP mode.
*
* @note Device support:
* - Femto Mega / Femto Mega I: NOT supported; use @ref OBNetIpConfig instead.
* - Gemini 335Le / Gemini 435Le with older firmware: NOT supported; use @ref OBNetIpConfig instead.
* - Gemini 335Le / Gemini 435Le with newer firmware: supported and recommended.
*
* @note Before using this structure, verify support at runtime:
* @code
* bool v2Supported = ob_device_is_property_supported(dev, OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2,
* OB_PERMISSION_READ_WRITE, &error);
* @endcode
*/
typedef struct {
uint16_t flags; ///< IP configuration mode flags
///< bit0: DHCP enable (1=on, 0=off)
///< bit1: Persistent IP enable (1=on, 0=off)
///< bit[2:15]: reserved, must be 0
uint8_t address[4]; ///< IP address (IPv4, big-endian, e.g. 192.168.1.1 -> address[0]=192)
uint8_t mask[4]; ///< Subnet mask (big-endian)
uint8_t gateway[4]; ///< Gateway (big-endian)
} OBNetIpConfigV2, ob_net_ip_config_v2, DEVICE_IP_ADDR_CONFIG_V2;
/**
* @brief Device communication mode
*/
@@ -2007,8 +2131,22 @@ 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);
/**
* @brief Callback for playback status notification
*
* @param[in] status Playback status
* @param[in] user_data User-defined data
*/
typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, void *user_data);
/**
* @brief Callback for pipeline status notification
*
* @param[in] status Pipeline status
* @param[in] user_data User-defined data
*/
typedef void (*ob_pipeline_status_callback)(ob_pipeline_status status, void *user_data);
/**
* @brief Callback Id
*/
orbbec_camera/SDK/include/libobsensor/h/Pipeline.h
+39
View File
@@ -364,6 +364,45 @@ OB_EXPORT ob_camera_param ob_pipeline_get_camera_param_with_profile(ob_pipeline
*/
OB_EXPORT ob_calibration_param ob_pipeline_get_calibration_param(ob_pipeline *pipeline, ob_config *config, ob_error **error);
/**
* @brief Get the current pipeline status observed during streaming.
*
* @note This function returns the accumulated status since the last call or since the pipeline was (re)started.
* The status is reset after each call. It is recommended to call this when no frames have been received
* for a period of time. If the status indicates a data error or no-frame condition, the SDK will also
* attempt to fetch device and driver status (with throttling to avoid excessive device communication).
*
* @param[in] pipeline The pipeline object
* @param[out] error Pointer to an error object that will be set if an error occurs.
*
* @return ob_pipeline_status Pipeline status reflecting events observed since the previous call.
*/
OB_EXPORT ob_pipeline_status ob_pipeline_get_status(ob_pipeline *pipeline, ob_error **error);
/**
* @brief Enable pipeline health monitor with periodic status polling.
*
* @note When enabled, an internal polling thread will periodically check the pipeline status (including SDK frame
* drops, device error state, and driver status). If any abnormal status is detected, the callback will be
* invoked. The callback is invoked from an internal thread; avoid blocking operations in the callback.
*
* @param[in] pipeline The pipeline object
* @param[in] callback The callback function to be invoked when abnormal status is detected
* @param[in] user_data User-defined data passed to the callback
* @param[in] interval_ms Polling interval in milliseconds (recommended: 3000-5000)
* @param[out] error Pointer to an error object that will be set if an error occurs.
*/
OB_EXPORT void ob_pipeline_enable_health_monitor(ob_pipeline *pipeline, ob_pipeline_status_callback callback, void *user_data, uint32_t interval_ms,
ob_error **error);
/**
* @brief Disable pipeline health monitor.
*
* @param[in] pipeline The pipeline object
* @param[out] error Pointer to an error object that will be set if an error occurs.
*/
OB_EXPORT void ob_pipeline_disable_health_monitor(ob_pipeline *pipeline, ob_error **error);
// The following interfaces are deprecated and are retained here for compatibility purposes.
#define ob_config_set_depth_scale_require ob_config_set_depth_scale_after_align_require
orbbec_camera/SDK/include/libobsensor/h/Property.h
+27 -1
View File
@@ -236,7 +236,7 @@ typedef enum {
OB_PROP_DEVICE_COMMUNICATION_TYPE_INT = 97,
/**
* @brief Switch infrared imaging mode, 0: active IR mode, 1: passive IR mode
* @brief Switch infrared imaging mode, 0: positive IR mode, 1: passive IR mode
*/
OB_PROP_SWITCH_IR_MODE_INT = 98,
@@ -612,6 +612,8 @@ typedef enum {
/**
* @brief LLA (Link Local Address) switch
*
* @deprecated The property is deprecated
*/
OB_PROP_DEVICE_NETWORK_LLA_BOOL = 257,
@@ -620,6 +622,22 @@ typedef enum {
*/
OB_PROP_COLOR_ANTI_FLICKER_BOOL = 259,
/**
* @brief Device IP mode
* @param value
* - 0: AMR Sensor Mode.
* Typically configured for ehternet interface sensors for AMRs.
* When DHCP is enabled and the device fails to obtain a valid IP address, it falls back to Persistent IP.
* If neither of Persistent IP and DHCP is specified, Persistent IP is enabled by default.
*
* - 1: Industrial Sensor Mode.
* Typically configured for ehternet interface sensors for industrial applications.
* When DHCP is enabled and the device fails to obtain a valid IP address, it falls back to LLA (Link-Local Address).
* If Persistent IP and DHCP are both enabled, the sensor starts with the attemp to used the specified persistent IP
* and falls back to DHCP if Persistent IP fails.
*/
OB_PROP_DEVICE_IP_MODE_INT = 260,
/**
* @brief Baseline calibration parameters
*/
@@ -657,6 +675,7 @@ typedef enum {
/**
* @brief Device IP address configuration
* @see OBNetIpConfig
*/
OB_STRUCT_DEVICE_IP_ADDR_CONFIG = 1041,
@@ -673,6 +692,7 @@ 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
* @see OBNetIpConfig
*
* @attention read only
*/
@@ -719,6 +739,12 @@ typedef enum {
*/
OB_STRUCT_COLOR_SYNCED_EXPOSURE_PARAM = 1077,
/**
* @brief Device IP address configuration v2
* @see OBNetIpConfigV2
*/
OB_STRUCT_DEVICE_IP_ADDR_CONFIG_V2 = 1088,
/**
* @brief Color camera auto exposure
*/