[orbbecsdk][update]:update Orbbecv2.0.21

orbbec_camera/SDK/include/libobsensor/h/Advanced.h

@@ -230,14 +230,6 @@ 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);
 
-/**
- * @breif Get the current frame interleave name.
- *
- * @param device The device object.
- * @param error  Pointer to an error object that will be set if an error occurs.
- * @return  The current frame interleave name, it should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
- */
-OB_EXPORT const char *ob_device_get_current_frame_interleave_name(const ob_device *device, ob_error **error);
 
 /**
  * @brief Delete the available frame interleave list.

orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp

@@ -761,18 +761,6 @@ public:
         return ret;
     }
 
-    /**
-     * @brief Get current frame interleave name
-     * @return const char* return the current frame interleave  name, it should be one of the frame interleave names returned by @ref
-     * getAvailableFrameInterleaveList.
-     */
-    const char *getCurrentFrameInterleaveName() const {
-        ob_error   *error = nullptr;
-        const char *name  = ob_device_get_current_frame_interleave_name(impl_, &error);
-        Error::handle(&error);
-        return name;
-    }
-
     /**
      * @brief load the frame interleave according to frame interleave name.
      * @param frameInterleaveName The frame interleave name to set. The name should be one of the frame interleave names returned by @ref

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -359,6 +359,10 @@ class OBCameraNode {
 
   void setupDepthPostProcessFilter();
 
+  // interleave AE
+  int init_interleave_hdr_param();
+  int init_interleave_laser_param();
+
  private:
   rclcpp::Node* node_ = nullptr;
   std::shared_ptr<ob::Device> device_ = nullptr;
@@ -606,8 +610,5 @@ class OBCameraNode {
   // interleave AE
   std::string interleave_ae_mode_ = "hdr";  // hdr or laser
   bool enable_depth_interleave_frame_ = false;
-
-  int init_interleave_hdr_param();
-  int init_interleave_laser_param();
 };
 }  // namespace orbbec_camera