Update SDK to g2r temp version

orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp

@@ -8,6 +8,7 @@
 #include "Types.hpp"
 #include <functional>
 #include <memory>
+#include <map>
 
 namespace ob {
 class Frame;
@@ -150,4 +151,172 @@ public:
     DecompressionFilter();
 };
 
+/**
+ * @brief Hole filling filter
+ */
+class OB_EXTENSION_API HoleFillingFilter : public Filter {
+public:
+    HoleFillingFilter();
+
+    void enable(bool enable);
+
+    bool isEnabled();
+
+    void setFilterMode(OBHoleFillingMode mode);
+};
+
+/**
+ * @brief Temporal filter
+ */
+class OB_EXTENSION_API TemporalFilter : public Filter {
+public:
+    TemporalFilter();
+
+    void enable(bool enable);
+
+    bool isEnabled();
+
+    OBFloatPropertyRange getDiffScaleRange();
+
+    void setDiffScale(float value);
+
+    OBFloatPropertyRange getWeightRange();
+
+    void setWeight(float value);
+    
+};
+
+/**
+ * @brief Spatial advanced filter
+ */
+class OB_EXTENSION_API SpatialAdvancedFilter : public Filter {
+public:
+    SpatialAdvancedFilter();
+
+    void enable(bool enable);
+
+    bool isEnabled();
+
+    OBFloatPropertyRange getAlphaRange();
+
+    OBUint16PropertyRange getDispDiffRange();
+
+    OBUint16PropertyRange getRadiusRange();
+
+    OBIntPropertyRange getMagnitudeRange();
+
+    OBSpatialAdvancedFilterParams getFilterParams();
+
+    void setFilterParams(OBSpatialAdvancedFilterParams params);
+};
+
+/**
+ * @brief Depth to disparity or disparity to depth
+ */
+class OB_EXTENSION_API DisparityTransform : public Filter {
+public:
+    DisparityTransform();
+
+    DisparityTransform(bool depth_to_disparity);
+
+    void enable(bool enable);
+
+    bool isEnabled();
+};
+
+/**
+ * @brief Depth HDR merge
+ */
+class OB_EXTENSION_API HdrMerge : public Filter {
+public:
+    HdrMerge();
+
+    void enable(bool enable);
+
+    bool isEnabled();
+};
+
+/**
+ * @brief Align for depth to other or other to depth.
+ */
+class OB_EXTENSION_API Align : public Filter {
+public:
+    Align(OBStreamType align_to_stream, OBFrameType align_to_frame);
+
+    void enable(bool enable);
+
+    bool isEnabled();
+};
+
+/**
+ * @brief Creates depth Thresholding filter
+ * By controlling min and max options on the block
+ */
+class OB_EXTENSION_API ThresholdFilter : public Filter {
+public:
+    ThresholdFilter();
+
+    void enable(bool enable);
+
+    bool isEnabled();
+
+    OBIntPropertyRange getMinRange();
+
+    OBIntPropertyRange getMaxRange();
+
+    void setValueRange(uint16_t min, uint16_t max);
+};
+
+/**
+ * @brief
+ */
+class OB_EXTENSION_API SequenceIdFilter : public Filter {
+public:
+    SequenceIdFilter();
+
+    void enable(bool enable);
+
+    bool isEnabled();
+
+    void selectSequenceId(float sequence_id);
+
+    float getSelectSequenceId();
+
+    std::map<float, std::string> getSequenceIdList();
+};
+
+/**
+ * @brief
+ */
+class OB_EXTENSION_API NoiseRemovalFilter : public Filter {
+public:
+    NoiseRemovalFilter();
+
+    void enable(bool enable);
+
+    bool isEnabled();
+
+    void setNoiseRemovalFilterParams(OBNoiseRemovalFilterParams *filterParams);
+
+    OBUint16PropertyRange getDispDiffRange();
+
+    OBUint16PropertyRange getSizeRange();
+};
+
+/**
+ * @brief
+ */
+class OB_EXTENSION_API DecimationFilter : public Filter {
+public:
+    DecimationFilter();
+
+    void enable(bool enable);
+
+    bool isEnabled();
+
+    void setScaleValue(uint8_t value);
+
+    OBUint8PropertyRange getScaleRange();
+};
+
 }  // namespace ob

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

@@ -31,6 +31,8 @@
 struct FrameImpl;
 
 namespace ob {
+class Device;
+class Sensor;
 class StreamProfile;
 class Filter;
 class FrameHelper;
@@ -120,6 +122,57 @@ public:
      */
     uint64_t globalTimeStampUs();
 
+    /**
+     * @brief Get the metadata of the frame.
+     *
+     * @return void* The metadata of the frame.
+     */
+    void *metadata();
+
+    /**
+     * @brief Get the size of the metadata of the frame.
+     *
+     * @return uint32_t The size of the metadata of the frame.
+     */
+    uint32_t metadataSize();
+
+    /**
+     * @brief Check if the frame object has metadata of a given type.
+     *
+     * @param type The metadata type. refer to @ref OBFrameMetadataType
+     * @return bool The result.
+     */
+    bool hasMetadata(OBFrameMetadataType type);
+
+    /**
+     * @brief Get the metadata value
+     *
+     * @param type The metadata type. refer to @ref OBFrameMetadataType
+     * @return int64_t The metadata value.
+     */
+    int64_t getMetadataValue(OBFrameMetadataType type);
+
+    /**
+     * @brief get StreamProfile of the frame
+     *
+     * @return std::shared_ptr<StreamProfile> The StreamProfile of the frame, may return nullptr if the frame is not captured from a stream.
+     */
+    std::shared_ptr<StreamProfile> getStreamProfile();
+
+    /**
+     * @brief get owner sensor of the frame
+     *
+     * @return std::shared_ptr<Sensor> The owner sensor of the frame, return nullptr if the frame is not owned by any sensor or the sensor is destroyed
+     */
+    std::shared_ptr<Sensor> getSensor();
+
+    /**
+     * @brief get owner device of the frame
+     *
+     * @return std::shared_ptr<Device> The owner device of the frame, return nullptr if the frame is not owned by any device or the device is destroyed
+     */
+    std::shared_ptr<Device> getDevice();
+
     /**
      * @brief Check if the runtime type of the frame object is compatible with a given type.
      *
@@ -171,20 +224,6 @@ public:
      */
     uint32_t height();
 
-    /**
-     * @brief Get the metadata of the frame.
-     *
-     * @return void* The metadata of the frame.
-     */
-    void *metadata();
-
-    /**
-     * @brief Get the size of the metadata of the frame.
-     *
-     * @return uint32_t The size of the metadata of the frame.
-     */
-    uint32_t metadataSize();
-
     /**
      * @brief Get the effective number of pixels in the frame.
      * @attention Only valid for Y8/Y10/Y11/Y12/Y14/Y16 format.

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

@@ -66,7 +66,7 @@ public:
     /**
      * @brief Start the pipeline and set the frameset data callback
      *
-     * @param config The parameter configuration of the pipeline
+     * @param config The configuration of the pipeline
      * @param callback The callback to be triggered when all frame data in the frameset arrives
      */
     void start(std::shared_ptr<Config> config, FrameSetCallback callback);
@@ -78,6 +78,7 @@ public:
 
     /**
      * @brief Get the pipeline configuration parameters
+     * @brief Returns the default configuration if the user has not configured it
      *
      * @return std::shared_ptr<Config> The configured parameters
      */
@@ -220,6 +221,7 @@ public:
     void enableStream(std::shared_ptr<StreamProfile> streamProfile);
 
     /**
+     * @deprecated Use enableStream(std::shared_ptr<StreamProfile> streamProfile) instead
      * @brief Enable all streams to be used in the pipeline
      */
     void enableAllStream();
@@ -236,6 +238,13 @@ public:
      */
     void disableAllStream();
 
+    /**
+     * @brief Get the Enabled Stream Profile List
+     *
+     * @return std::shared_ptr<StreamProfileList>
+     */
+    std::shared_ptr<StreamProfileList> getEnabledStreamProfileList() const;
+
     /**
      * @brief Set the alignment mode
      *
@@ -267,7 +276,7 @@ public:
      * @brief The processing strategy when the FrameSet generated by the frame aggregation function does not contain the frames of all opened streams (which
      * can be caused by different frame rates of each stream, or by the loss of frames of one stream): drop directly or output to the user.
      *
-     * @param mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
+     * @param mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE)
      */
     void setFrameAggregateOutputMode(OBFrameAggregateOutputMode mode);
 

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

@@ -42,6 +42,13 @@ public:
      */
     OBStreamType type() const;
 
+    /**
+     * @brief Get the extrinsic parameters from current stream profile to the given target stream profile
+     *
+     * @return OBExtrinsic Return the extrinsic parameters.
+     */
+    OBExtrinsic getExtrinsicTo(std::shared_ptr<StreamProfile> target);
+
     /**
      * @brief Check if frame object is compatible with the given type
      *
@@ -100,6 +107,21 @@ public:
      * @return uint32_t Return the height of the stream.
      */
     uint32_t height() const;
+
+    /**
+     * @brief Get the intrinsic parameters of the stream.
+     *
+     * @return OBCameraIntrinsic Return the intrinsic parameters.
+     */
+    OBCameraIntrinsic getIntrinsic();
+
+    /**
+     * @brief Get the distortion parameters of the stream.
+     * @brief Brown distortion model
+     *
+     * @return OBCameraDistortion Return the distortion parameters.
+     */
+    OBCameraDistortion getDistortion();
 };
 
 /**
@@ -126,6 +148,13 @@ public:
      * @return OBAccelFullScaleRange Return the sampling frequency.
      */
     OBAccelSampleRate sampleRate() const;
+
+    /**
+     * @brief get the intrinsic parameters of the stream.
+     *
+     * @return OBAccelIntrinsic Return the intrinsic parameters.
+     */
+    OBAccelIntrinsic getIntrinsic();
 };
 
 /**
@@ -151,6 +180,13 @@ public:
      * @return OBAccelFullScaleRange Return the sampling frequency.
      */
     OBGyroSampleRate sampleRate() const;
+
+    /**
+     * @brief get the intrinsic parameters of the stream.
+     *
+     * @return OBGyroIntrinsic Return the intrinsic parameters.
+     */
+    OBGyroIntrinsic getIntrinsic();
 };
 
 template <typename T> bool StreamProfile::is() {

orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp

@@ -105,7 +105,7 @@ public:
      * @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).
+     * 1080 * 2 (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
      *
@@ -123,16 +123,5 @@ public:
      *
      */
     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);
 };
 }  // namespace ob