[SDK]Restore the SDK version to v2.0.21

orbbec_camera/SDK/include/libobsensor/h/Filter.h

@@ -245,16 +245,6 @@ OB_EXPORT uint32_t ob_filter_config_schema_list_get_count(const ob_filter_config
 OB_EXPORT ob_filter_config_schema_item ob_filter_config_schema_list_get_item(const ob_filter_config_schema_list *config_schema_list, uint32_t index,
                                                                              ob_error **error);
 
-/**
- * @brief Set the align to stream profile for the align filter.
- * @breif It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
- *
- * @param filter A filter object.
- * @param align_to_stream_profile The align target stream profile.
- * @param error Pointer to an error object that will be set if an error occurs.
- */
-OB_EXPORT void ob_align_filter_set_align_to_stream_profile(ob_filter *filter, const ob_stream_profile *align_to_stream_profile, ob_error **error);
-
 // The following interfaces are deprecated and are retained here for compatibility purposes.
 #define ob_get_filter ob_filter_list_get_filter
 #define ob_get_filter_name ob_filter_get_name

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

@@ -1,6 +1,9 @@
 // Copyright (c) Orbbec Inc. All Rights Reserved.
 // Licensed under the MIT License.
 
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2020 Orbbec  Corporation. All Rights Reserved.
+
 /**
  * @file ObTypes.h
  * @brief Provide structs commonly used in the SDK, enumerating constant definitions.

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

@@ -97,7 +97,7 @@ typedef enum {
     /**
      * @brief Software filter switch
      */
-    OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL = 24,
+    OB_PROP_DEPTH_SOFT_FILTER_BOOL = 24,
 
     /**
      * @brief LDP status
@@ -105,14 +105,14 @@ typedef enum {
     OB_PROP_LDP_STATUS_BOOL = 32,
 
     /**
-     * @brief maxdiff for depth noise removal filter
+     * @brief soft filter maxdiff param
      */
-    OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_DIFF_INT = 40,
+    OB_PROP_DEPTH_MAX_DIFF_INT = 40,
 
     /**
-     * @brief maxSpeckleSize for depth noise removal filter
+     * @brief soft filter maxSpeckleSize
      */
-    OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_SPECKLE_SIZE_INT = 41,
+    OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT = 41,
 
     /**
      * @brief Hardware d2c is on
@@ -759,9 +759,7 @@ 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_SOFT_FILTER_BOOL OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL
-#define OB_PROP_DEPTH_MAX_DIFF_INT OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_DIFF_INT
-#define OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_SPECKLE_SIZE_INT
+#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/Filter.hpp

@@ -440,18 +440,6 @@ public:
     void setMatchTargetResolution(bool state) {
         setConfigValue("MatchTargetRes", state);
     }
-
-    /**
-     * @brief Set the Align To Stream Profile
-     * @brief  It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
-     *
-     * @param profile The Align To Stream Profile.
-     */
-    void setAlignToStreamProfile(std::shared_ptr<const StreamProfile> profile) {
-        ob_error *error = nullptr;
-        ob_align_filter_set_align_to_stream_profile(impl_, profile->getImpl(), &error);
-        Error::handle(&error);
-    }
 };
 
 /**

orbbec_camera/include/orbbec_camera/constants.h

@@ -23,7 +23,7 @@
 
 #define OB_ROS_MAJOR_VERSION 2
 #define OB_ROS_MINOR_VERSION 0
-#define OB_ROS_PATCH_VERSION 9
+#define OB_ROS_PATCH_VERSION 8
 
 #ifndef STRINGIFY
 #define STRINGIFY(arg) #arg

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>2.0.9</version>
+  <version>2.0.8</version>
   <description>Orbbec Camera package</description>
   <maintainer email="mocun@orbbec.com">Joe Dong</maintainer>
   <license>Apache-2.0</license>