Update SDK sdk to v2.0.11

orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake

@@ -12,8 +12,8 @@ set_target_properties(ob::OrbbecSDK PROPERTIES
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so"
   )
 
-list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so" )
+list(APPEND _IMPORT_CHECK_TARGETS ob::OrbbecSDK )
+list(APPEND _IMPORT_CHECK_FILES_FOR_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/x64/OrbbecSDKConfig.cmake

@@ -1,13 +1,10 @@
 # Generated by CMake
 
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
-   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")
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
 endif()
 cmake_policy(PUSH)
-cmake_policy(VERSION 2.8.3...3.28)
+cmake_policy(VERSION 2.6)
 #----------------------------------------------------------------
 # Generated CMake target import file.
 #----------------------------------------------------------------
@@ -16,34 +13,32 @@ cmake_policy(VERSION 2.8.3...3.28)
 set(CMAKE_IMPORT_FILE_VERSION 1)
 
 # Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_cmake_targets_defined "")
-set(_cmake_targets_not_defined "")
-set(_cmake_expected_targets "")
-foreach(_cmake_expected_target IN ITEMS ob::OrbbecSDK)
-  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
-  if(TARGET "${_cmake_expected_target}")
-    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
-  else()
-    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget ob::OrbbecSDK)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
   endif()
 endforeach()
-unset(_cmake_expected_target)
-if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
-  unset(_cmake_targets_defined)
-  unset(_cmake_targets_not_defined)
-  unset(_cmake_expected_targets)
-  unset(CMAKE_IMPORT_FILE_VERSION)
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
   cmake_policy(POP)
   return()
 endif()
-if(NOT _cmake_targets_defined STREQUAL "")
-  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
-  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
 endif()
-unset(_cmake_targets_defined)
-unset(_cmake_targets_not_defined)
-unset(_cmake_expected_targets)
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
 
 
 # Compute the installation prefix relative to this file.
@@ -61,25 +56,21 @@ set_target_properties(ob::OrbbecSDK PROPERTIES
 )
 
 # Load information for each installed configuration.
-file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/OrbbecSDKConfig-*.cmake")
-foreach(_cmake_config_file IN LISTS _cmake_config_files)
-  include("${_cmake_config_file}")
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/OrbbecSDKConfig-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
 endforeach()
-unset(_cmake_config_file)
-unset(_cmake_config_files)
 
 # Cleanup temporary variables.
 set(_IMPORT_PREFIX)
 
 # Loop over all imported files and verify that they actually exist
-foreach(_cmake_target IN LISTS _cmake_import_check_targets)
-  if(CMAKE_VERSION VERSION_LESS "3.28"
-      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
-      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
-    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
-      if(NOT EXISTS "${_cmake_file}")
-        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
-   \"${_cmake_file}\"
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
 but this file does not exist.  Possible reasons include:
 * The file was deleted, renamed, or moved to another location.
 * An install or uninstall procedure did not complete successfully.
@@ -87,14 +78,11 @@ but this file does not exist.  Possible reasons include:
    \"${CMAKE_CURRENT_LIST_FILE}\"
 but not all the files it references.
 ")
-      endif()
-    endforeach()
-  endif()
-  unset(_cmake_file)
-  unset("_cmake_import_check_files_for_${_cmake_target}")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
 endforeach()
-unset(_cmake_target)
-unset(_cmake_import_check_targets)
+unset(_IMPORT_CHECK_TARGETS)
 
 # This file does not depend on other imported targets which have
 # been exported from the same project but in a separate export set.

orbbec_camera/src/ob_camera_node.cpp

@@ -1402,74 +1402,33 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
     RCLCPP_ERROR_STREAM(logger_, "depth frame is null");
     return;
   }
-  auto depth_width = depth_frame->getWidth();
-  auto depth_height = depth_frame->getHeight();
   CHECK_NOTNULL(pipeline_);
+  auto camera_params = pipeline_->getCameraParam();
   auto device_info = device_->getDeviceInfo();
   CHECK_NOTNULL(device_info.get());
-  auto pid = device_info->getPid();
-
-  if (!depth_xy_tables_.has_value()) {
-    RCLCPP_INFO(logger_, "Update depth xy tables");
-    try {
-      calibration_param_ = pipeline_->getCalibrationParam(pipeline_config_);
-    } catch (const ob::Error &e) {
-      RCLCPP_ERROR_STREAM(logger_, "Failed to get calibration param: " << e.getMessage());
-      throw;
-    }
-
-    uint32_t table_size =
-        depth_width * depth_height * 2;  // one for x-coordinate and one for y-coordinate LUT
-    if (depth_xy_table_data_size_ != table_size) {
-      RCLCPP_INFO_STREAM(logger_, "Update depth xy tables with size " << table_size);
-      depth_xy_table_data_size_ = table_size;
-      delete[] depth_xy_table_data_;
-      depth_xy_table_data_ = new float[table_size];
-    }
-
-    depth_xy_tables_ = OBXYTables();
-    CHECK_NOTNULL(depth_xy_table_data_);
-    auto align_sensor = depth_registration_ ? OB_SENSOR_COLOR : OB_SENSOR_DEPTH;
-    if (pid == DABAI_MAX_PID) {
-      align_sensor = OB_SENSOR_COLOR;
-    }
-    if (!ob::CoordinateTransformHelper::transformationInitXYTables(
-            *calibration_param_, align_sensor, depth_xy_table_data_, &table_size,
-            &(*depth_xy_tables_))) {
-      RCLCPP_ERROR_STREAM(logger_, "Failed to init depth xy tables");
-      return;
-    }
+  auto pid = device_info->pid();
+  if (depth_registration_ || pid == DABAI_MAX_PID) {
+    camera_params.depthIntrinsic = camera_params.rgbIntrinsic;
   }
-  const auto *depth_data = depth_frame->getData();
-  if (depth_data == nullptr) {
-    RCLCPP_ERROR_STREAM(logger_, "depth data is empty");
+  depth_point_cloud_filter_.setCameraParam(camera_params);
+  float depth_scale = depth_frame->getValueScale();
+  depth_point_cloud_filter_.setPositionDataScaled(depth_scale);
+  depth_point_cloud_filter_.setCreatePointFormat(OB_FORMAT_POINT);
+  auto result_frame = depth_point_cloud_filter_.process(depth_frame);
+  if (!result_frame) {
+    RCLCPP_ERROR_STREAM(logger_, "Failed to process depth frame");
     return;
   }
-
-  uint32_t point_cloud_buffer_size = depth_width * depth_height * sizeof(OBPoint);
-  if (point_cloud_buffer_size > depth_point_cloud_buffer_size_) {
-    RCLCPP_INFO(logger_, "Update depth point cloud buffer size to %d", point_cloud_buffer_size);
-    delete[] depth_point_cloud_buffer_;
-
-    depth_point_cloud_buffer_ = new uint8_t[point_cloud_buffer_size];
-    depth_point_cloud_buffer_size_ = point_cloud_buffer_size;
-  }
-  memset(depth_point_cloud_buffer_, 0, depth_point_cloud_buffer_size_);
-  auto *point_cloud = reinterpret_cast<OBPoint *>(depth_point_cloud_buffer_);
-  ob::CoordinateTransformHelper::transformationDepthToPointCloud(&(*depth_xy_tables_), depth_data,
-                                                                 point_cloud);
-  auto point_size = depth_point_cloud_buffer_size_ / sizeof(OBPoint);
-
-  auto *points = reinterpret_cast<OBPoint *>(depth_point_cloud_buffer_);
-  auto width = depth_frame->getWidth();
-  auto height = depth_frame->getHeight();
-  auto depth_scale = depth_frame->getValueScale();
+  auto point_size = result_frame->dataSize() / sizeof(OBPoint);
+  auto *points = static_cast<OBPoint *>(result_frame->data());
+  auto width = depth_frame->width();
+  auto height = depth_frame->height();
   auto point_cloud_msg = std::make_unique<sensor_msgs::msg::PointCloud2>();
   sensor_msgs::PointCloud2Modifier modifier(*point_cloud_msg);
   modifier.setPointCloud2FieldsByString(1, "xyz");
   modifier.resize(width * height);
-  point_cloud_msg->width = depth_frame->getWidth();
-  point_cloud_msg->height = depth_frame->getHeight();
+  point_cloud_msg->width = depth_frame->width();
+  point_cloud_msg->height = depth_frame->height();
   point_cloud_msg->row_step = point_cloud_msg->width * point_cloud_msg->point_step;
   point_cloud_msg->data.resize(point_cloud_msg->height * point_cloud_msg->row_step);
   sensor_msgs::PointCloud2Iterator<float> iter_x(*point_cloud_msg, "x");
@@ -1481,7 +1440,6 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
   const static float max_depth = MAX_DISTANCE / depth_scale;
   size_t valid_count = 0;
   for (size_t i = 0; i < point_size; i++) {
-    // RCLCPP_INFO_STREAM(logger_, "points[i].z" << points[i].z);
     bool valid_point = points[i].z >= min_depth && points[i].z <= max_depth;
     if (valid_point || ordered_pc_) {
       *iter_x = static_cast<float>(points[i].x / 1000.0);
@@ -1527,6 +1485,7 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
     }
   }
   depth_cloud_pub_->publish(std::move(point_cloud_msg));
+
 }
 
 void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet> &frame_set) {