diff --git a/orbbec_camera/SDK/include/libobsensor/h/Advanced.h b/orbbec_camera/SDK/include/libobsensor/h/Advanced.h index bf5365a6..bd72251d 100644 --- a/orbbec_camera/SDK/include/libobsensor/h/Advanced.h +++ b/orbbec_camera/SDK/include/libobsensor/h/Advanced.h @@ -269,6 +269,42 @@ OB_EXPORT const char *ob_device_frame_interleave_list_get_name(ob_device_frame_i OB_EXPORT bool ob_device_frame_interleave_list_has_frame_interleave(ob_device_frame_interleave_list *frame_interleave_list, const char *frame_interleave_name, ob_error **error); +/* @brief Get the available preset resolution config list. + * + * @param device The device object. + * @param error Log error messages. + * @return The available frame interleave list. + * + */ +OB_EXPORT ob_preset_resolution_config_list *ob_device_get_available_preset_resolution_config_list(ob_device *device, ob_error **error); + +/* @brief Get the number of preset resolution in the preset resolution list. + * + * @param ob_preset_resolution_config_list The available preset resolution list. + * @param error Log error messages. + * @return The number of preset resolution in the preset resolution list. + */ +OB_EXPORT uint32_t ob_device_preset_resolution_config_get_count(ob_preset_resolution_config_list *ob_preset_resolution_config_list, ob_error **error); + +/** + * @brief Get the preset resolution in the preset resolution list. + * + * @param ob_preset_resolution_config_list The available preset resolution list. + * @param index The index of preset resolution in the preset resolution list. + * @param error Log error messages. + * @return The preset resolution in the preset resolution list. + */ +OB_EXPORT OBPresetResolutionConfig ob_device_preset_resolution_config_list_get_item(const ob_preset_resolution_config_list *ob_preset_resolution_config_lis, + uint32_t index, ob_error **error); + +/** + * @brief Delete the available preset resolution list. + * + * @param frame_interleave_list The available preset resolution list. + * @param error Log error messages. + */ +OB_EXPORT void ob_delete_preset_resolution_config_list(ob_preset_resolution_config_list *ob_preset_resolution_config_list, ob_error **error); + // The following interfaces are deprecated and are retained here for compatibility purposes. #define ob_depth_work_mode_list_count ob_depth_work_mode_list_get_count #define ob_device_preset_list_count ob_device_preset_list_get_count diff --git a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h index b98df92a..1a7820c4 100644 --- a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h +++ b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h @@ -39,6 +39,7 @@ typedef struct ob_depth_work_mode_list_t ob_depth_work_mode_list; typedef struct ob_device_preset_list_t ob_device_preset_list; typedef struct ob_filter_config_schema_list_t ob_filter_config_schema_list; typedef struct ob_device_frame_interleave_list_t ob_device_frame_interleave_list; +typedef struct ob_preset_resolution_config_list_t ob_preset_resolution_config_list; #define OB_WIDTH_ANY 0 #define OB_HEIGHT_ANY 0 @@ -126,17 +127,18 @@ typedef struct ob_error { * @brief Enumeration value describing the sensor type */ typedef enum { - OB_SENSOR_UNKNOWN = 0, /**< Unknown type sensor */ - OB_SENSOR_IR = 1, /**< IR */ - OB_SENSOR_COLOR = 2, /**< Color */ - OB_SENSOR_DEPTH = 3, /**< Depth */ - OB_SENSOR_ACCEL = 4, /**< Accel */ - OB_SENSOR_GYRO = 5, /**< Gyro */ - OB_SENSOR_IR_LEFT = 6, /**< left IR for stereo camera*/ - OB_SENSOR_IR_RIGHT = 7, /**< Right IR for stereo camera*/ - OB_SENSOR_RAW_PHASE = 8, /**< Raw Phase */ - OB_SENSOR_LIDAR = 9, /**< LiDAR */ - OB_SENSOR_TYPE_COUNT, /**The total number of sensor types, is not a valid sensor type */ + OB_SENSOR_UNKNOWN = 0, /**< Unknown type sensor */ + OB_SENSOR_IR = 1, /**< IR */ + OB_SENSOR_COLOR = 2, /**< Color */ + OB_SENSOR_DEPTH = 3, /**< Depth */ + OB_SENSOR_ACCEL = 4, /**< Accel */ + OB_SENSOR_GYRO = 5, /**< Gyro */ + OB_SENSOR_IR_LEFT = 6, /**< left IR for stereo camera*/ + OB_SENSOR_IR_RIGHT = 7, /**< Right IR for stereo camera*/ + OB_SENSOR_RAW_PHASE = 8, /**< Raw Phase */ + OB_SENSOR_CONFIDENCE = 9, /**< Confidence */ + OB_SENSOR_LIDAR = 10, /**< LiDAR */ + OB_SENSOR_TYPE_COUNT, /**The total number of sensor types, is not a valid sensor type */ } OBSensorType, ob_sensor_type; @@ -144,18 +146,19 @@ typedef enum { * @brief Enumeration value describing the type of data stream */ typedef enum { - OB_STREAM_UNKNOWN = -1, /**< Unknown type stream */ - OB_STREAM_VIDEO = 0, /**< Video stream (infrared, color, depth streams are all video streams) */ - OB_STREAM_IR = 1, /**< IR stream */ - OB_STREAM_COLOR = 2, /**< color stream */ - OB_STREAM_DEPTH = 3, /**< depth stream */ - OB_STREAM_ACCEL = 4, /**< Accelerometer data stream */ - OB_STREAM_GYRO = 5, /**< Gyroscope data stream */ - OB_STREAM_IR_LEFT = 6, /**< Left IR stream for stereo camera */ - OB_STREAM_IR_RIGHT = 7, /**< Right IR stream for stereo camera */ - OB_STREAM_RAW_PHASE = 8, /**< RawPhase Stream */ - OB_STREAM_LIDAR = 9, /**< LiDAR Stream for LiDAR device*/ - OB_STREAM_TYPE_COUNT, /**< The total number of stream type,is not a valid stream type */ + OB_STREAM_UNKNOWN = -1, /**< Unknown type stream */ + OB_STREAM_VIDEO = 0, /**< Video stream (infrared, color, depth streams are all video streams) */ + OB_STREAM_IR = 1, /**< IR stream */ + OB_STREAM_COLOR = 2, /**< color stream */ + OB_STREAM_DEPTH = 3, /**< depth stream */ + OB_STREAM_ACCEL = 4, /**< Accelerometer data stream */ + OB_STREAM_GYRO = 5, /**< Gyroscope data stream */ + OB_STREAM_IR_LEFT = 6, /**< Left IR stream for stereo camera */ + OB_STREAM_IR_RIGHT = 7, /**< Right IR stream for stereo camera */ + OB_STREAM_RAW_PHASE = 8, /**< RawPhase Stream */ + OB_STREAM_CONFIDENCE = 9, /**< Confidence Stream*/ + OB_STREAM_LIDAR = 10, /**< LiDAR Stream for LiDAR device*/ + OB_STREAM_TYPE_COUNT, /**< The total number of stream type,is not a valid stream type */ } OBStreamType, ob_stream_type; @@ -175,7 +178,8 @@ typedef enum { OB_FRAME_IR_LEFT = 8, /**< Left IR frame for stereo camera */ OB_FRAME_IR_RIGHT = 9, /**< Right IR frame for stereo camera */ OB_FRAME_RAW_PHASE = 10, /**< Raw Phase frame*/ - OB_FRAME_LIDAR_POINTS = 11, /**< LiDAR point3d cloud frame*/ + OB_FRAME_CONFIDENCE = 11, /**< Confidence frame*/ + OB_FRAME_LIDAR_POINTS = 12, /**< LiDAR point3d cloud frame*/ OB_FRAME_TYPE_COUNT, /**< The total number of frame types, is not a valid frame type */ } OBFrameType, ob_frame_type; @@ -231,10 +235,11 @@ typedef enum { OB_FORMAT_RGBA = 31, /**< RGBA format */ OB_FORMAT_BYR2 = 32, /**< byr2 format */ OB_FORMAT_RW16 = 33, /**< RAW16 format */ - OB_FORMAT_LIDAR_POINT = 34, /**< XYZ 3D coordinate point format with LiDAR information, @ref OBLiDARPoint */ - OB_FORMAT_LIDAR_SPHERE_POINT = 35, /**< XYZ 3D coordinate point format with LiDAR information, @ref OBLiDARSpherePoint */ - OB_FORMAT_LIDAR_SCAN = 36, /**< LiDAR single-line scan mode data format, @ref OBLiDARScanPoint */ - OB_FORMAT_LIDAR_CALIBRATION = 37, /**< LiDAR calibration mode point format */ + OB_FORMAT_Y12C4 = 34, /**< Y12C4 format */ + OB_FORMAT_LIDAR_POINT = 35, /**< XYZ 3D coordinate point format with LiDAR information, @ref OBLiDARPoint */ + OB_FORMAT_LIDAR_SPHERE_POINT = 36, /**< XYZ 3D coordinate point format with LiDAR information, @ref OBLiDARSpherePoint */ + OB_FORMAT_LIDAR_SCAN = 37, /**< LiDAR single-line scan mode data format, @ref OBLiDARScanPoint */ + OB_FORMAT_LIDAR_CALIBRATION = 38, /**< LiDAR calibration mode point format */ } OBFormat, ob_format; @@ -457,6 +462,13 @@ typedef struct { bool isMirrored; ///< Whether the image frame corresponding to this group of parameters is mirrored } OBCameraParam, ob_camera_param; +typedef struct { + int16_t width; ///< width + int16_t height; ///< height + int irDecimationFactor; ///< ir decimation factor + int depthDecimationFactor; ///< depth decimation factor +} OBPresetResolutionConfig, ob_preset_resolution_ratio_config; + /** * @brief calibration parameters */ @@ -648,6 +660,7 @@ typedef enum { OB_LIDAR_SCAN_20HZ = 4, OB_LIDAR_SCAN_25HZ = 5, OB_LIDAR_SCAN_30HZ = 6, + OB_LIDAR_SCAN_40HZ = 7, } OBLiDARScanRate, ob_lidar_scan_rate, OB_LIDAR_SCAN_RATE; @@ -1882,7 +1895,7 @@ typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, v */ #define ob_is_video_sensor_type(sensor_type) \ (sensor_type == OB_SENSOR_COLOR || sensor_type == OB_SENSOR_DEPTH || sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT \ - || sensor_type == OB_SENSOR_IR_RIGHT) + || sensor_type == OB_SENSOR_IR_RIGHT || sensor_type == OB_SENSOR_CONFIDENCE) /** * @brief check if the stream_type is a video stream @@ -1892,7 +1905,7 @@ typedef void (*ob_playback_status_changed_callback)(ob_playback_status status, v */ #define ob_is_video_stream_type(stream_type) \ (stream_type == OB_STREAM_COLOR || stream_type == OB_STREAM_DEPTH || stream_type == OB_STREAM_IR || stream_type == OB_STREAM_IR_LEFT \ - || stream_type == OB_STREAM_IR_RIGHT || stream_type == OB_STREAM_VIDEO) + || stream_type == OB_STREAM_IR_RIGHT || stream_type == OB_STREAM_VIDEO || stream_type == OB_STREAM_CONFIDENCE) /** * @brief Check if sensor_type is an IR sensor diff --git a/orbbec_camera/SDK/include/libobsensor/h/Property.h b/orbbec_camera/SDK/include/libobsensor/h/Property.h index fea9f1d6..084300f1 100644 --- a/orbbec_camera/SDK/include/libobsensor/h/Property.h +++ b/orbbec_camera/SDK/include/libobsensor/h/Property.h @@ -515,6 +515,36 @@ typedef enum { */ OB_DEVICE_PTP_CLOCK_SYNC_ENABLE_BOOL = 223, + /** + * @brief Depth with confidence stream enable + */ + OB_PROP_DEPTH_WITH_CONFIDENCE_STREAM_ENABLE_BOOL = 224, + + /** + * @brief Enable or disable confidence stream filter + */ + OB_PROP_CONFIDENCE_STREAM_FILTER_BOOL = 226, + + /** + * @brief Confidence stream filter threshold, range [0, 255] + */ + OB_PROP_CONFIDENCE_STREAM_FILTER_THRESHOLD_INT = 227, + + /** + * @brief Confidence stream mirror enable + */ + OB_PROP_CONFIDENCE_MIRROR_BOOL = 229, + + /** + * @brief Confidence stream flip enable + */ + OB_PROP_CONFIDENCE_FLIP_BOOL = 230, + + /** + * @brief Confidence stream rotate angle{0, 90, 180, 270} + */ + OB_PROP_CONFIDENCE_ROTATE_INT = 231, + /** * @brief Baseline calibration parameters */ @@ -604,6 +634,11 @@ typedef enum { */ OB_STRUCT_DISP_OFFSET_CONFIG = 1064, + /** + * @brief Preset resolution ratio configuration + */ + OB_STRUCT_PRESET_RESOLUTION_CONFIG = 1069, + /** * @brief Color camera auto exposure */ @@ -998,6 +1033,11 @@ typedef enum { * @brief LiDAR: get/set specific mode */ OB_PROP_LIDAR_SPECIFIC_MODE_INT = 8033, + + /** + * @brief LiDAR: get/set repetitive scan mode + */ + OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT = 8034, } OBPropertyID, ob_property_id; diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp index d3aa4637..2e3659a0 100644 --- a/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp +++ b/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp @@ -30,6 +30,7 @@ class DevicePresetList; class OBDepthWorkModeList; class CameraParamList; class DeviceFrameInterleaveList; +class PresetResolutionConfigeList; class Device { public: @@ -822,6 +823,18 @@ public: return std::make_shared(list); } + /** + * @brief Get available frame interleave list + * + * @return DeviceFrameInterleaveList return the available frame interleave list. + */ + std::shared_ptr getAvailablePresetResolutionConfigeList() const { + ob_error *error = nullptr; + auto list = ob_device_get_available_preset_resolution_config_list(impl_, &error); + Error::handle(&error); + return std::make_shared(list); + } + private: static void firmwareUpdateCallback(ob_fw_update_state state, const char *message, uint8_t percent, void *userData) { auto device = static_cast(userData); @@ -1502,4 +1515,42 @@ public: } }; +/** + * @brief Class representing a list of device Frame Interleave + */ +class PresetResolutionConfigeList { +private: + ob_preset_resolution_config_list_t *impl_ = nullptr; + +public: + explicit PresetResolutionConfigeList(ob_preset_resolution_config_list_t *impl) : impl_(impl) {} + ~PresetResolutionConfigeList() noexcept { + ob_error *error = nullptr; + ob_delete_preset_resolution_config_list(impl_, &error); + Error::handle(&error, false); + } + + /** + * @brief Get the number of device preset resolution ratio in the list + */ + uint32_t getCount() { + ob_error *error = nullptr; + auto count = ob_device_preset_resolution_config_get_count(impl_, &error); + Error::handle(&error); + return count; + } + + /* + * @brief Get the device preset resolution ratio at the specified index + * @param index the index of the device preset resolution ratio + * @return OBPresetResolutionConfig the corresponding device preset resolution ratio + */ + OBPresetResolutionConfig getPresetResolutionRatioConfig(uint32_t index) { + ob_error *error = nullptr; + auto config = ob_device_preset_resolution_config_list_get_item(impl_, index, &error); + Error::handle(&error); + return config; + } +}; + } // namespace ob diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp index c6d7f70e..feb37dd0 100644 --- a/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp +++ b/orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp @@ -347,7 +347,7 @@ public: init(impl); } - virtual ~PointCloudFilter() noexcept = default; + virtual ~PointCloudFilter() noexcept override = default; /** * @brief Set the output pointcloud frame format. @@ -421,7 +421,7 @@ public: setConfigValue("AlignType", static_cast(alignToStreamType)); } - virtual ~Align() noexcept = default; + virtual ~Align() noexcept override = default; OBStreamType getAlignToStreamType() { return static_cast(static_cast(getConfigValue("AlignType"))); @@ -466,7 +466,7 @@ public: init(impl); } - virtual ~FormatConvertFilter() noexcept = default; + virtual ~FormatConvertFilter() noexcept override = default; /** * @brief Set the format conversion type. @@ -492,7 +492,7 @@ public: init(impl); } - virtual ~HdrMerge() noexcept = default; + virtual ~HdrMerge() noexcept override = default; }; /** @@ -524,7 +524,7 @@ public: initSequenceIdList(); } - virtual ~SequenceIdFilter() noexcept { + virtual ~SequenceIdFilter() noexcept override { if(outputSequenceIdList_) { delete[] outputSequenceIdList_; outputSequenceIdList_ = nullptr; @@ -575,7 +575,7 @@ public: init(impl); } - virtual ~DecimationFilter() noexcept = default; + virtual ~DecimationFilter() noexcept override = default; /** * @brief Set the decimation filter scale value. @@ -619,7 +619,7 @@ public: init(impl); } - virtual ~ThresholdFilter() noexcept = default; + virtual ~ThresholdFilter() noexcept override = default; /** * @brief Get the threshold filter min range. @@ -682,7 +682,7 @@ public: init(impl); } - virtual ~SpatialAdvancedFilter() noexcept = default; + virtual ~SpatialAdvancedFilter() noexcept override = default; /** * @brief Get the spatial advanced filter alpha range. @@ -791,7 +791,7 @@ public: init(impl); } - ~HoleFillingFilter() noexcept = default; + ~HoleFillingFilter() noexcept override = default; /** * @brief Set the HoleFillingFilter mode. @@ -824,7 +824,7 @@ public: init(impl); } - ~NoiseRemovalFilter() noexcept = default; + ~NoiseRemovalFilter() noexcept override = default; /** * @brief Set the noise removal filter params. @@ -895,7 +895,7 @@ public: init(impl); } - ~TemporalFilter() noexcept = default; + ~TemporalFilter() noexcept override = default; /** * @brief Get the TemporalFilter diffscale range. @@ -962,7 +962,7 @@ public: init(impl); } - ~DisparityTransform() noexcept = default; + ~DisparityTransform() noexcept override = default; }; class OBFilterList { diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp index cabdebec..a18a7777 100644 --- a/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp +++ b/orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp @@ -553,6 +553,28 @@ public: ~IRFrame() noexcept override = default; }; +/** + * @brief Define the ConfidenceFrame class, which inherits from the VideoFrame class + * + */ +class ConfidenceFrame : public VideoFrame { + +public: + /** + * @brief Construct a new ConfidenceFrame object with a given pointer to the internal frame object. + * + * @attention After calling this constructor, the frame object will own the internal frame object, and the internal frame object will be deleted when the + * frame object is destroyed. + * @attention The internal frame object should not be deleted by the caller. + * @attention Please use the FrameFactory to create a Frame object. + * + * @param impl The pointer to the internal frame object. + */ + explicit ConfidenceFrame(const ob_frame *impl) : VideoFrame(impl){}; + + ~ConfidenceFrame() noexcept override = default; +}; + /** * @brief Define the PointsFrame class, which inherits from the Frame class * @brief The PointsFrame class is used to obtain pointcloud data and point cloud information. @@ -1064,6 +1086,8 @@ template bool Frame::is() const { return (typeid(T) == typeid(DepthFrame) || typeid(T) == typeid(VideoFrame)); case OB_FRAME_COLOR: return (typeid(T) == typeid(ColorFrame) || typeid(T) == typeid(VideoFrame)); + case OB_FRAME_CONFIDENCE: + return (typeid(T) == typeid(ConfidenceFrame) || typeid(T) == typeid(VideoFrame)); case OB_FRAME_GYRO: return (typeid(T) == typeid(GyroFrame)); case OB_FRAME_ACCEL: diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp index 37bea9c6..fe61de2a 100644 --- a/orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp +++ b/orbbec_camera/SDK/include/libobsensor/hpp/RecordPlayback.hpp @@ -20,7 +20,7 @@ typedef std::function PlaybackStatusChangeCallbac class RecordDevice { private: - ob_record_device_t *impl_; + ob_record_device_t *impl_ = nullptr; public: explicit RecordDevice(std::shared_ptr device, const std::string &file, bool compressionEnabled = true) { @@ -35,14 +35,14 @@ public: Error::handle(&error, false); } - RecordDevice(RecordDevice &&other) { + RecordDevice(RecordDevice &&other) noexcept { if(this != &other) { impl_ = other.impl_; other.impl_ = nullptr; } } - RecordDevice &operator=(RecordDevice &&other) { + RecordDevice &operator=(RecordDevice &&other) noexcept { if(this != &other) { impl_ = other.impl_; other.impl_ = nullptr; @@ -76,11 +76,11 @@ public: Error::handle(&error); } - virtual ~PlaybackDevice() noexcept = default; + virtual ~PlaybackDevice() noexcept override = default; - PlaybackDevice(PlaybackDevice &&other) : Device(std::move(other)) {} + PlaybackDevice(PlaybackDevice &&other) noexcept : Device(std::move(other)) {} - PlaybackDevice &operator=(PlaybackDevice &&other) { + PlaybackDevice &operator=(PlaybackDevice &&other) noexcept { Device::operator=(std::move(other)); return *this; } diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp index 7d11cf5b..551a5571 100644 --- a/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp +++ b/orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp @@ -405,6 +405,7 @@ template bool StreamProfile::is() const { case OB_STREAM_COLOR: case OB_STREAM_DEPTH: case OB_STREAM_RAW_PHASE: + case OB_STREAM_CONFIDENCE: return typeid(T) == typeid(VideoStreamProfile); case OB_STREAM_ACCEL: return typeid(T) == typeid(AccelStreamProfile); @@ -431,6 +432,7 @@ public: case OB_STREAM_DEPTH: case OB_STREAM_COLOR: case OB_STREAM_VIDEO: + case OB_STREAM_CONFIDENCE: return std::make_shared(impl); case OB_STREAM_ACCEL: return std::make_shared(impl); diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp index e9e6581d..a68a6d2c 100644 --- a/orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp +++ b/orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp @@ -122,6 +122,7 @@ public: * OB_SENSOR_IR, * OB_SENSOR_IR_LEFT, * OB_SENSOR_IR_RIGHT, + * OB_SENSOR_CONFIDENCE, * * @param type The sensor type * @return true @@ -141,6 +142,7 @@ public: * OB_STREAM_IR, * OB_STREAM_IR_LEFT, * OB_STREAM_IR_RIGHT, + * OB_STREAM_CONFIDENCE, * * @param type The stream type to check. * @return true if the given stream type is a video stream, false otherwise. diff --git a/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake b/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake index 5d7a67f8..4ea90070 100644 --- a/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake +++ b/orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake @@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1) # Import target "ob::OrbbecSDK" for configuration "Release" set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE) set_target_properties(ob::OrbbecSDK PROPERTIES - IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.3" + IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.6" IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2" ) list(APPEND _cmake_import_check_targets ob::OrbbecSDK ) -list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.3" ) +list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.6" ) # Commands beyond this point should not need to know the version. set(CMAKE_IMPORT_FILE_VERSION) diff --git a/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so b/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so index f04e2678..17325c6c 100644 Binary files a/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so and b/orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so differ diff --git a/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so b/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so index a0466daf..bb87ddf1 100644 Binary files a/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so and b/orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so differ diff --git a/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so index d76f36c0..4cc7c805 100644 Binary files a/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so and b/orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so differ diff --git a/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so b/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so index cc13222c..0fa902fd 100644 Binary files a/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so and b/orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so differ diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2 index 06dfc7a3..fd1d7152 120000 --- a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2 +++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2 @@ -1 +1 @@ -libOrbbecSDK.so.2.4.3 \ No newline at end of file +libOrbbecSDK.so.2.4.6 \ No newline at end of file diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.4.3 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.4.6 similarity index 61% rename from orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.4.3 rename to orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.4.6 index 3bd9805c..23570854 100644 Binary files a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.4.3 and b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2.4.6 differ diff --git a/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake b/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake index 5d7a67f8..4ea90070 100644 --- a/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake +++ b/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake @@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1) # Import target "ob::OrbbecSDK" for configuration "Release" set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE) set_target_properties(ob::OrbbecSDK PROPERTIES - IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.3" + IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.6" IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2" ) list(APPEND _cmake_import_check_targets ob::OrbbecSDK ) -list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.3" ) +list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.6" ) # Commands beyond this point should not need to know the version. set(CMAKE_IMPORT_FILE_VERSION) diff --git a/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig.cmake b/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig.cmake index 360b8578..6a35f679 100644 --- a/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig.cmake +++ b/orbbec_camera/SDK/lib/x64/OrbbecSDKConfig.cmake @@ -1,13 +1,13 @@ # Generated by CMake if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8) - message(FATAL_ERROR "CMake >= 2.8.3 required") + message(FATAL_ERROR "CMake >= 2.8.0 required") endif() if(CMAKE_VERSION VERSION_LESS "2.8.3") message(FATAL_ERROR "CMake >= 2.8.3 required") endif() cmake_policy(PUSH) -cmake_policy(VERSION 2.8.3...3.29) +cmake_policy(VERSION 2.8.3...3.28) #---------------------------------------------------------------- # Generated CMake target import file. #---------------------------------------------------------------- diff --git a/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so b/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so index a6517bd1..22390eb2 100644 Binary files a/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so and b/orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so differ diff --git a/orbbec_camera/SDK/lib/x64/extensions/filters/libob_priv_filter.so b/orbbec_camera/SDK/lib/x64/extensions/filters/libob_priv_filter.so index f5c8d7b6..72978814 100644 Binary files a/orbbec_camera/SDK/lib/x64/extensions/filters/libob_priv_filter.so and b/orbbec_camera/SDK/lib/x64/extensions/filters/libob_priv_filter.so differ diff --git a/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so b/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so index 32fb0a38..c2cd729e 100644 Binary files a/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so and b/orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so differ diff --git a/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so b/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so index 40290450..fc491140 100644 Binary files a/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so and b/orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so differ diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2 index 06dfc7a3..fd1d7152 120000 --- a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2 +++ b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2 @@ -1 +1 @@ -libOrbbecSDK.so.2.4.3 \ No newline at end of file +libOrbbecSDK.so.2.4.6 \ No newline at end of file diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.4.3 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.4.6 similarity index 64% rename from orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.4.3 rename to orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.4.6 index b9c4fb72..4ff38112 100644 Binary files a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.4.3 and b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2.4.6 differ diff --git a/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml b/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml index c78fed26..8cc50aa6 100644 --- a/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml +++ b/orbbec_camera/config/OrbbecSDKConfig_v2.0.xml @@ -129,7 +129,7 @@ 100 - + 640 @@ -400,7 +400,7 @@ - 0 + 0 @@ -548,7 +548,7 @@ - 0 + 0 @@ -658,7 +658,7 @@ - 0 + 0 @@ -1200,7 +1200,7 @@ Y8 - + @@ -1217,12 +1217,12 @@ 100 - + false true - + 0 - 0 + 0 @@ -1839,7 +1839,7 @@ - 0 + 0 @@ -2047,7 +2047,7 @@ Y8 - + - 0 + 0 1.2 + + true + + 1000 + + 100 + + 15 @@ -2075,7 +2084,7 @@ 800 10 - RVL + Y16 @@ -2329,4 +2338,4 @@ - + \ No newline at end of file