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Update SDK to v1.10.9

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This commit is contained in:
Joe Dong
2024-07-08 11:01:54 +08:00
parent d15ef10894
commit e1b007c387
9 changed files with 137 additions and 150 deletions
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orbbec_camera/SDK/include/libobsensor/h/Error.h
+1 -1
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@@ -24,7 +24,7 @@ ob_status ob_error_status(ob_error *error);
* @param[in] error The error object.
* @return The error message.
*/
const char *ob_error_message(ob_error *error);
const char *ob_error_message(const ob_error *error);
/**
* @brief Get the name of the API function that caused the error.
orbbec_camera/SDK/include/libobsensor/h/Property.h
+18 -9
View File
@@ -384,6 +384,10 @@ typedef enum {
* @brief Query the status of laser pulse width protection (read-only)
*/
OB_PROP_LASER_PULSE_WIDTH_PROTECTION_STATUS_BOOL = 149,
/**
* @brief depth noise removal filter
*/
OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL = 165,
/**
* @brief Laser always on, true: always on, false: off, laser will be turned off when out of exposure time
@@ -415,23 +419,23 @@ typedef enum {
/**
* @brief slave device sync status
*/
OB_PROP_SLAVE_DEVICE_SYNC_STATUS_BOOL = 188,
*/
OB_PROP_SLAVE_DEVICE_SYNC_STATUS_BOOL = 188,
/**
/**
* @brief Color AE max exposure
*/
OB_PROP_COLOR_AE_MAX_EXPOSURE_INT = 189,
*/
OB_PROP_COLOR_AE_MAX_EXPOSURE_INT = 189,
/**
* @brief IR AE max exposure
*/
OB_PROP_IR_AE_MAX_EXPOSURE_INT = 190,
*/
OB_PROP_IR_AE_MAX_EXPOSURE_INT = 190,
/**
* @brief disparity search range mode
*/
OB_PROP_DISP_SEARCH_RANGE_MODE_INT = 191,
*/
OB_PROP_DISP_SEARCH_RANGE_MODE_INT = 191,
/**
* @brief Baseline calibration parameters
@@ -712,6 +716,11 @@ typedef enum {
*/
OB_PROP_SDK_IR_RIGHT_FRAME_UNPACK_BOOL = 3012,
/**
* @brief depth Margin Filter
*/
OB_PROP_SDK_DEPTH_RECTIFY_MG_FILTER_BOOL = 3013,
/**
* @brief Calibration JSON file read from device (Femto Mega, read only)
*/
orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp
+115 -137
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@@ -6,155 +6,133 @@
#pragma once
#include "Types.hpp"
#include "Frame.hpp"
namespace ob {
class Device;
class OB_EXTENSION_API CoordinateTransformHelper {
public:
/**
* @brief Transform a 3d point of a source coordinate system into a 3d point of the target
* coordinate system.
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint3f Source 3d point value
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint3f Target 3d point value
*
* @return bool Transform result
*/
static bool calibration3dTo3d(const OBCalibrationParam calibrationParam,
const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
public:
/**
* @brief Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint3f Source 3d point value
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint3f Target 3d point value
*
* @return bool Transform result
*/
static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
/**
* @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 calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint2f Source 2d point value
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint3f Target 3d point value
*
* @return bool Transform result
*/
static bool calibration2dTo3d(const OBCalibrationParam calibrationParam,
const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
const OBSensorType sourceSensorType,
const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
/**
* @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 calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint2f Source 2d point value
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint3f Target 3d point value
*
* @return bool Transform result
*/
static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
/**
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into
* a 3d point of the target coordinate system.
* @brief This function uses undistortion, which may result in longer processing time.
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint2f Source 2d point value
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint3f Target 3d point value
*
* @return bool Transform result
*/
static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam,
const OBPoint2f sourcePoint2f,
const float sourceDepthPixelValue,
const OBSensorType sourceSensorType,
const OBSensorType targetSensorType,
OBPoint3f *targetPoint3f);
/**
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
* @brief This function uses undistortion, which may result in longer processing time.
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint2f Source 2d point value
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint3f Target 3d point value
*
* @return bool Transform result
*/
static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
/**
* @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the
* target camera.
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint3f Source 3d point value
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint2f Target 2d point value
*
* @return bool Transform result
*/
static bool calibration3dTo2d(const OBCalibrationParam calibrationParam,
const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
/**
* @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint3f Source 3d point value
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint2f Target 2d point value
*
* @return bool Transform result
*/
static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
/**
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into
* a 2d pixel coordinate of the target camera
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint2f Source 2d point value
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint2f Target 2d point value
*
* @return bool Transform result
*/
static bool calibration2dTo2d(const OBCalibrationParam calibrationParam,
const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
const OBSensorType sourceSensorType,
const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
/**
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sourcePoint2f Source 2d point value
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
* @param sourceSensorType Source sensor type
* @param targetSensorType Target sensor type
* @param targetPoint2f Target 2d point value
*
* @return bool Transform result
*/
static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
/**
* @brief Transforms the depth frame into the geometry of the color camera.
*
* @param device Device handle
* @param depthFrame Input depth frame
* @param targetColorCameraWidth Target color camera width
* @param targetColorCameraHeight Target color camera height
*
* @return std::shared_ptr<ob::Frame> Transformed depth frame
*/
static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(
std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);
/**
* @brief Transforms the depth frame into the geometry of the color camera.
*
* @param device Device handle
* @param depthFrame Input depth frame
* @param targetColorCameraWidth Target color camera width
* @param targetColorCameraHeight Target color camera height
*
* @return std::shared_ptr<ob::Frame> Transformed depth frame
*/
static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);
/**
* @brief Init transformation tables
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sensorType sensor type
* @param data input data,needs to be allocated externally.During initialization, the external
* allocation size is 'dataSize', for example, dataSize = 1920 * 1080 * 2*sizeof(float) (1920 *
* 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one
* for y-coordinate).
* @param dataSize input data size
* @param xyTables output xy tables
*
* @return bool Transform result
*/
static bool transformationInitXYTables(const OBCalibrationParam calibrationParam,
const OBSensorType sensorType, float *data,
uint32_t *dataSize, OBXYTables *xyTables);
/**
* @brief Init transformation tables
*
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
* @param sensorType sensor type
* @param data input data,needs to be allocated externally.During initialization, the external allocation size is 'dataSize', for example, dataSize = 1920 *
* 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
* @param dataSize input data size
* @param xyTables output xy tables
*
* @return bool Transform result
*/
static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
OBXYTables *xyTables);
/**
* @brief Transform depth image to point cloud data
*
* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
* @param depthImageData input depth image data
* @param pointCloudData output point cloud data
*
*/
static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData,
void *pointCloudData);
/**
* @brief Transform depth image to point cloud data
*
* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
* @param depthImageData input depth image data
* @param pointCloudData output point cloud data
*
*/
static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData);
/**
* @brief Transform depth image to RGBD point cloud data
*
* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
* @param depthImageData input depth image data
* @param colorImageData input color image data (only RGB888 support)
* @param pointCloudData output RGBD point cloud data
*
*/
static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData,
const void *colorImageData, void *pointCloudData);
/**
* @brief Transform depth image to RGBD point cloud data
*
* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
* @param depthImageData input depth image data
* @param colorImageData input color image data (only RGB888 support)
* @param pointCloudData output RGBD point cloud data
*
*/
static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData);
};
} // namespace ob