Update sdk version to v2.4.1

2026-10-04 03:57:46 +08:00 · 2025-05-12 10:15:48 +08:00
parent 10aebfd896
commit b2ef7d2d07
33 changed files with 522 additions and 109 deletions
@@ -211,12 +211,12 @@ OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *pre
 * @return bool Returns true if the device supports the frame interleave feature.
 */
 OB_EXPORT bool ob_device_is_frame_interleave_supported(const ob_device *device, ob_error **error);
-    /**
+/**
 *
 * @brief load the frame interleave mode according to frame interleavee name.
 *
 * @param device The device object.
- * @param interleave_ae_name  The name should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
+ * @param frame_interleave_name  The name should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
 * @param error  Log error messages.
 */
 OB_EXPORT void ob_device_load_frame_interleave(ob_device *device, const char *frame_interleave_name, ob_error **error);
@@ -230,11 +230,10 @@ OB_EXPORT void ob_device_load_frame_interleave(ob_device *device, const char *fr
 */
 OB_EXPORT ob_device_frame_interleave_list *ob_device_get_available_frame_interleave_list(ob_device *device, ob_error **error);

-
 /**
 * @brief Delete the available frame interleave list.
 *
- * @param interleave_ae_list The available frame interleave list.
+ * @param frame_interleave_list The available frame interleave list.
 * @param error  Log error messages.
 */
 OB_EXPORT void ob_delete_frame_interleave_list(ob_device_frame_interleave_list *frame_interleave_list, ob_error **error);
@@ -242,7 +241,7 @@ OB_EXPORT void ob_delete_frame_interleave_list(ob_device_frame_interleave_list *
 /**
 * @brief Get the number of frame interleave in the frame interleave list.
 *
- * @param interleave_ae_list The available frame interleave  list.
+ * @param frame_interleave_list The available frame interleave list.
 * @param error  Log error messages.
 * @return  The number of frame interleave in the frame interleave list.
 */
@@ -251,7 +250,7 @@ OB_EXPORT uint32_t ob_device_frame_interleave_list_get_count(ob_device_frame_int
 /**
 * @brief Get the name of frame interleave in the frame interleave list.
 *
- * @param interleave_ae_list The available frame interleave list.
+ * @param frame_interleave_list The available frame interleave list.
 * @param index  The index of frame interleave in the frame interleave list.
 * @param error  Log error messages.
 * @return  The name of frame interleave in the frame interleave list..
@@ -261,8 +260,8 @@ OB_EXPORT const char *ob_device_frame_interleave_list_get_name(ob_device_frame_i
 /**
 * @brief Check if the interleave ae list has the interleave ae.
 *
- * @param interleave_ae_list The available interleave ae list.
- * @param interleave_ae_name  The name of the interleave ae.
+ * @param frame_interleave_list The available interleave ae list.
+ * @param frame_interleave_name  The name of the interleave ae.
 * @param error  Log error messages.
 * @return  Whether the interleave ae list has the interleave ae. If true, the interleave ae list has the interleave ae. If false, the interleave ae list does
 * not have the interleave ae.
@@ -104,7 +104,7 @@ OB_EXPORT void ob_enable_device_clock_sync(ob_context *context, uint64_t repeat_
 OB_EXPORT void ob_free_idle_memory(ob_context *context, ob_error **error);

 /**
- * @brief For linux, there are two ways to enable the UVC backend: libuvc and libusb. This function is used to set the backend type.
+ * @brief For linux, there are two ways to enable the UVC backend: libuvc and v4l2. This function is used to set the backend type.
 * @brief It is effective when the new device is created.
 *
 * @attention This interface is only available for Linux.
@@ -166,6 +166,26 @@ OB_EXPORT void ob_device_get_structured_data(ob_device *device, ob_property_id p
 */
 OB_EXPORT void ob_device_get_raw_data(ob_device *device, ob_property_id property_id, ob_get_data_callback cb, void *user_data, ob_error **error);

+/**
+ * @brief Set customer data.
+ *
+ * @param[in] device The device object.
+ * @param[in] data The property data to be set.
+ * @param[in] data_size The size of the property to be set,the maximum length cannot exceed 65532 bytes.
+ * @param[out] error Log error messages.
+ */
+OB_EXPORT void ob_device_write_customer_data(ob_device *device, const void *data, uint32_t data_size, ob_error **error);
+
+/**
+ * @brief Get customer data of a device property.
+ *
+ * @param[in] device The device object.
+ * @param[out] data The obtained property data.
+ * @param[out] data_size The size of the obtained property data.
+ * @param[out] error Log error messages.
+ */
+OB_EXPORT void ob_device_read_customer_data(ob_device *device, void *data, uint32_t *data_size, ob_error **error);
+
 /**
 * @brief Get the number of properties supported by the device.
 *
@@ -305,9 +325,8 @@ OB_EXPORT void ob_device_enable_heartbeat(ob_device *device, bool enable, ob_err
 * @param[in] send_data The data to be sent to the device.
 * @param[in] send_data_size The size of the data to be sent to the device.
 * @param[out] receive_data The data received from the device.
- * @param[in, out] receive_data_size Pass in the expected size of the receive data, and return the actual size of the received data.
+ * @param[in,out] receive_data_size Pass in the expected size of the receive data, and return the actual size of the received data.
 * @param error Pointer to an error object that will be set if an error occurs.
- * @return OB_EXPORT
 */
 OB_EXPORT void ob_device_send_and_receive_data(ob_device *device, const uint8_t *send_data, uint32_t send_data_size, uint8_t *receive_data,
                                               uint32_t *receive_data_size, ob_error **error);
@@ -62,7 +62,7 @@ OB_EXPORT ob_frame *ob_create_frame_from_stream_profile(const ob_stream_profile
 * no longer needed.
 *
 * @param[in] frame_type Frame object type.
- * @param[in] frame_format Frame object format.
+ * @param[in] format Frame object format.
 * @param[in] width Frame object width.
 * @param[in] height Frame object height.
 * @param[in] stride_bytes Row span in bytes. If 0, the stride is calculated based on the width and format.
@@ -10,15 +10,15 @@

 #include "Export.h"

+#include <stdbool.h>
+#include <stdint.h>
+
 #pragma pack(push, 1)  // struct 1-byte align

 #ifdef __cplusplus
 extern "C" {
 #endif

-#include <stdbool.h>
-#include <stdint.h>
-
 typedef struct ob_context_t                      ob_context;
 typedef struct ob_device_t                       ob_device;
 typedef struct ob_device_info_t                  ob_device_info;
@@ -185,6 +185,7 @@ typedef enum {
    OB_PIXEL_DEPTH     = 0,   // Depth pixel type, the value of the pixel is the distance from the camera to the object
    OB_PIXEL_DISPARITY = 2,   // Disparity for structured light camera
    OB_PIXEL_RAW_PHASE = 3,   // Raw phase for tof camera
+    OB_PIXEL_TOF_DEPTH = 4,   // Depth for tof camera
 } OBPixelType,
    ob_pixel_type;

@@ -192,7 +193,7 @@ typedef enum {
 * @brief Enumeration value describing the pixel format
 */
 typedef enum {
-    OB_FORMAT_UNKNOWN    = -1, /*< unknown format */
+    OB_FORMAT_UNKNOWN    = -1, /**< unknown format */
    OB_FORMAT_YUYV       = 0,  /**< YUYV format */
    OB_FORMAT_YUY2       = 1,  /**< YUY2 format (the actual format is the same as YUYV) */
    OB_FORMAT_UYVY       = 2,  /**< UYVY format */
@@ -538,6 +539,10 @@ typedef enum {
    FORMAT_YUYV_TO_BGRA,    /**< YUYV to BGRA */
    FORMAT_YUYV_TO_Y16,     /**< YUYV to Y16 */
    FORMAT_YUYV_TO_Y8,      /**< YUYV to Y8 */
+    FORMAT_RGBA_TO_RGB,     /**< RGBA to RGB */
+    FORMAT_BGRA_TO_BGR,     /**< BGRA to BGR */
+    FORMAT_Y16_TO_RGB,      /**< Y16 to RGB */
+    FORMAT_Y8_TO_RGB,       /**< Y8 to RGB */
 } OBConvertFormat,
    ob_convert_format;

@@ -1697,17 +1702,17 @@ typedef enum {
 } ob_uvc_backend_type,
    OBUvcBackendType;

-
 /**
 * @brief The playback status of the media
 */
 typedef enum {
-    OB_PLAYBACK_UNKNOWN ,
-    OB_PLAYBACK_PLAYING,  /**< The media is playing */
-    OB_PLAYBACK_PAUSED, /**< The media is paused */
+    OB_PLAYBACK_UNKNOWN,
+    OB_PLAYBACK_PLAYING, /**< The media is playing */
+    OB_PLAYBACK_PAUSED,  /**< The media is paused */
    OB_PLAYBACK_STOPPED, /**< The media is stopped */
    OB_PLAYBACK_COUNT,
-} ob_playback_status, OBPlaybackStatus;
+} ob_playback_status,
+    OBPlaybackStatus;

 // For compatibility
 #define OB_FRAME_METADATA_TYPE_LASER_POWER_MODE OB_FRAME_METADATA_TYPE_LASER_POWER_LEVEL
@@ -1815,7 +1820,7 @@ 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);

-typedef void(*ob_playback_status_changed_callback)(ob_playback_status status, void *user_data);
+typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, void *user_data);
 /**
 * @brief Check if the sensor_type is a video sensor
 *
@@ -205,13 +205,13 @@ OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config, co
 *
 * @attention The stream_type should be a video stream type, such as OB_STREAM_IR, OB_STREAM_COLOR, OB_STREAM_DEPTH, etc.
 *
- * @param config[in] The pipeline configuration object
- * @param stream_type[in] The type of the stream to be enabled
- * @param width[in] The width of the video stream
- * @param height[in] The height of the video stream
- * @param fps[in] The frame rate of the video stream
- * @param format[in] The format of the video stream
- * @param error[out] Pointer to an error object that will be set if an error occurs.
+ * @param[in] config The pipeline configuration object
+ * @param[in] stream_type The type of the stream to be enabled
+ * @param[in] width The width of the video stream
+ * @param[in] height The height of the video stream
+ * @param[in] fps The frame rate of the video stream
+ * @param[in] format The format of the video stream
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
 */
 OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type stream_type, uint32_t width, uint32_t height, uint32_t fps, ob_format format,
                                             ob_error **error);
@@ -219,20 +219,20 @@ OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type s
 /**
 * @brief Enable accelerometer stream with specified parameters
 *
- * @param config[in] The pipeline configuration object
- * @param full_scale_range[in] The full scale range of the accelerometer
- * @param sample_rate[in] The sample rate of the accelerometer
- * @param error[out] Pointer to an error object that will be set if an error occurs.
+ * @param[in] config The pipeline configuration object
+ * @param[in] full_scale_range The full scale range of the accelerometer
+ * @param[in] sample_rate The sample rate of the accelerometer
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
 */
 OB_EXPORT void ob_config_enable_accel_stream(ob_config *config, ob_accel_full_scale_range full_scale_range, ob_accel_sample_rate sample_rate, ob_error **error);

 /**
 * @brief Enable gyroscope stream with specified parameters
 *
- * @param config[in] The pipeline configuration object
- * @param full_scale_range[in] The full scale range of the gyroscope
- * @param sample_rate[in] The sample rate of the gyroscope
- * @param error[out] Pointer to an error object that will be set if an error occurs.
+ * @param[in] config The pipeline configuration object
+ * @param[in] full_scale_range The full scale range of the gyroscope
+ * @param[in] sample_rate The sample rate of the gyroscope
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
 */
 OB_EXPORT void ob_config_enable_gyro_stream(ob_config *config, ob_gyro_full_scale_range full_scale_range, ob_gyro_sample_rate sample_rate, ob_error **error);

@@ -509,6 +509,12 @@ typedef enum {
     * @brief soft trigger auto capture interval time, use in OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING mode
     */
    OB_DEVICE_AUTO_CAPTURE_INTERVAL_TIME_INT = 217,
+
+    /**
+     * @brief PTP time synchronization enable
+     */
+    OB_DEVICE_PTP_CLOCK_SYNC_ENABLE_BOOL = 223,
+
    /**
     * @brief Baseline calibration parameters
     */
@@ -817,6 +823,11 @@ typedef enum {
     * @brief Calibration JSON file read from device (Femto Mega, read only)
     */
    OB_RAW_DATA_CAMERA_CALIB_JSON_FILE = 4029,
+
+    /**
+     * @brief Confidence degree
+     */
+    OB_PROP_DEBUG_ESGM_CONFIDENCE_FLOAT = 5013,
 } OBPropertyID,
    ob_property_id;

@@ -134,13 +134,23 @@ OB_EXPORT ob_extrinsic ob_stream_profile_get_extrinsic_to(const ob_stream_profil
 /**
 * @brief Set the extrinsic for source stream to target stream
 *
- * @param[in] profile Stream profile object
+ * @param[in] source Stream profile object
 * @param[in] target  Target stream type
 * @param[in] extrinsic The extrinsic
 * @param[out] error   Pointer to an error object that will be set if an error occurs.
 */
 OB_EXPORT void ob_stream_profile_set_extrinsic_to(ob_stream_profile *source, const ob_stream_profile *target, ob_extrinsic extrinsic, ob_error **error);

+/**
+ * @brief Set the extrinsic for source stream to target stream type
+ *
+ * @param[in] source Source stream profile
+ * @param[in]  type Target stream type
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return ob_extrinsic The extrinsic
+ */
+OB_EXPORT void ob_stream_profile_set_extrinsic_to_type(ob_stream_profile *source, const ob_stream_type type, ob_extrinsic extrinsic, ob_error **error);
+
 /**
 * @brief Get the frame rate of the video stream
 *
@@ -235,7 +245,7 @@ OB_EXPORT ob_disparity_param ob_disparity_based_stream_profile_get_disparity_par
 * @brief Set the disparity process param of the disparity stream.
 *
 * @param[in] profile Stream profile object. If the profile is not for the disparity stream, an error will be returned.
- * @param[in]  intrinsic The disparity process param of the disparity stream.
+ * @param[in] param The disparity process param of the disparity stream.
 * @param[out] error Pointer to an error object that will be set if an error occurs.
 */
 OB_EXPORT void ob_disparity_based_stream_profile_set_disparity_param(ob_stream_profile *profile, ob_disparity_param param, ob_error **error);
@@ -24,10 +24,9 @@ OB_EXPORT bool ob_transformation_3d_to_3d(const OBPoint3f source_point3f, OBExtr
 /**
 * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
 *
- * @param[in] source_intrinsic Source intrinsic parameters
- * @param[in] source_distortion Source distortion parameters
 * @param[in] source_point2f Source 2d point value
 * @param[in] source_depth_pixel_value The depth of sourcePoint2f in millimeters
+ * @param[in] source_intrinsic Source intrinsic parameters
 * @param[in] extrinsic Transformation matrix from source to target
 * @param[out] target_point3f Target 3d point value
 * @param[out] error Pointer to an error object that will be set if an error occurs.