update OrbbecSDK version

orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp

@@ -205,6 +205,17 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Trigger data acquisition on all devices configured for software synchronization, ensuring they capture data based on the same system time.
+     *
+     * @param[in] softSyncTime The time to synchronize, in microseconds. If the value is 0, synchronization is performed immediately.
+     */
+    void setMultieDeviceSoftSyncTimeCapture(uint64_t softSyncTime) const {
+        ob_error *error = nullptr;
+        ob_multie_device_soft_sync_capture(impl_, softSyncTime, &error);
+        Error::handle(&error);
+    }
+
     /**
      * @brief Frees idle memory from the internal frame memory pool.
      * @brief The SDK includes an internal frame memory pool that caches memory allocated for frames received from devices.

orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp

@@ -1293,6 +1293,8 @@ template <typename T> bool Frame::is() const {
     case OB_FRAME_DEPTH:
         return (typeid(T) == typeid(DepthFrame) || typeid(T) == typeid(VideoFrame));
     case OB_FRAME_COLOR:
+    case OB_FRAME_COLOR_LEFT:
+    case OB_FRAME_COLOR_RIGHT:
         return (typeid(T) == typeid(ColorFrame) || typeid(T) == typeid(VideoFrame));
     case OB_FRAME_CONFIDENCE:
         return (typeid(T) == typeid(ConfidenceFrame) || typeid(T) == typeid(VideoFrame));

orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp

@@ -124,6 +124,22 @@ public:
         enableVideoStream(streamType, width, height, fps, format);
     }
 
+    /**
+     * @brief Enable a video stream to be used in the pipeline with down-sample configuration.
+     * @brief Will convert sensor type to stream type automatically.
+     *
+     * @param[in] sensorType The sensor type to be enabled.
+     * @param[in] downSampleConfig The down-sample configuration for this stream.
+     * @param[in] fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
+     * @param[in] format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
+     */
+    void enableVideoStream(OBSensorType sensorType, OBDownSampleConfig downSampleConfig, uint32_t fps = OB_FPS_ANY, OBFormat format = OB_FORMAT_ANY) const {
+        auto      streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
+        ob_error *error      = nullptr;
+        ob_config_enable_video_stream_by_down_sample_config(impl_, streamType, downSampleConfig, fps, format, &error);
+        Error::handle(&error);
+    }
+
     /**
      * @brief Enable an accelerometer stream to be used in the pipeline.
      *

orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp

@@ -254,6 +254,19 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Get the down-sampling configuration of the stream.
+     * @brief Includes original resolution and scale factor.
+     *
+     * @return OBDownSampleConfig Return the down-sampling configuration.
+     */
+    OBDownSampleConfig getDownSampleConfig() const {
+        ob_error *error            = nullptr;
+        auto      downSampleConfig = ob_video_stream_profile_get_down_sample_config(const_cast<ob_stream_profile_t *>(impl_), &error);
+        Error::handle(&error);
+        return downSampleConfig;
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     uint32_t fps() const {
@@ -406,6 +419,8 @@ template <typename T> bool StreamProfile::is() const {
     case OB_STREAM_IR_LEFT:
     case OB_STREAM_IR_RIGHT:
     case OB_STREAM_COLOR:
+    case OB_STREAM_COLOR_LEFT:
+    case OB_STREAM_COLOR_RIGHT:
     case OB_STREAM_DEPTH:
     case OB_STREAM_RAW_PHASE:
     case OB_STREAM_CONFIDENCE:
@@ -434,6 +449,8 @@ public:
         case OB_STREAM_IR_RIGHT:
         case OB_STREAM_DEPTH:
         case OB_STREAM_COLOR:
+        case OB_STREAM_COLOR_LEFT:
+        case OB_STREAM_COLOR_RIGHT:
         case OB_STREAM_VIDEO:
         case OB_STREAM_CONFIDENCE:
             return std::make_shared<VideoStreamProfile>(impl);
@@ -511,6 +528,25 @@ public:
         return vsp->as<VideoStreamProfile>();
     }
 
+    /**
+     * @brief Match the corresponding video stream profile according to the down-sampling configuration.If multiple profiles match, the first one in the list is
+     * returned. Throws an exception when no matching profile is found.
+     *
+     * @param[in] downSampleConfig Down-sampling configuration. The actual resolution is computed fromthe original resolution and scale factor.
+     * @param[in] format Stream format. Pass OB_FORMAT_ANY if no matching condition is required.
+     * @param[in] fps Frame rate. Pass OB_FPS_ANY if no matching condition is required.
+     *
+     * @return std::shared_ptr<VideoStreamProfile> Return the matched video stream profile.
+     */
+    std::shared_ptr<VideoStreamProfile> getVideoStreamProfile(OBDownSampleConfig downSampleConfig, OBFormat format = OB_FORMAT_ANY,
+                                                              int fps = OB_FPS_ANY) const {
+        ob_error *error   = nullptr;
+        auto      profile = ob_stream_profile_list_get_video_stream_profile_by_down_sample_config(impl_, downSampleConfig, format, fps, &error);
+        Error::handle(&error);
+        auto vsp = StreamProfileFactory::create(profile);
+        return vsp->as<VideoStreamProfile>();
+    }
+
     /**
      * @brief Match the corresponding accelerometer stream profile based on the passed-in parameters. If multiple Match are found, the first one in the list
      * is returned by default. Throws an exception if no matching profile is found.

orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp

@@ -127,6 +127,8 @@ public:
      * @brief Video sensors are sensors that produce video frames.
      * @brief The following sensor types are considered video sensors:
      *      OB_SENSOR_COLOR,
+     *      OB_SENSOR_COLOR_LEFT,
+     *      OB_SENSOR_COLOR_RIGHT,
      *      OB_SENSOR_DEPTH,
      *      OB_SENSOR_IR,
      *      OB_SENSOR_IR_LEFT,
@@ -148,6 +150,8 @@ public:
      *      OB_STREAM_VIDEO,
      *      OB_STREAM_DEPTH,
      *      OB_STREAM_COLOR,
+     *      OB_STREAM_COLOR_LEFT,
+     *      OB_STREAM_COLOR_RIGHT,
      *      OB_STREAM_IR,
      *      OB_STREAM_IR_LEFT,
      *      OB_STREAM_IR_RIGHT,