Update SDK to g2r temp version

orbbec_camera/SDK/include/libobsensor/h/Frame.h

@@ -102,6 +102,78 @@ void *ob_frame_data(ob_frame *frame, ob_error **error);
  */
 uint32_t ob_frame_data_size(ob_frame *frame, ob_error **error);
 
+/**
+ * @brief Get the metadata of the frame
+ *
+ * @param[in] frame frame object
+ * @param[out] error Log error messages
+ * @return void* return the metadata pointer of the frame
+ */
+void *ob_frame_metadata(ob_frame *frame, ob_error **error);
+#define ob_video_frame_metadata ob_frame_metadata  // for compatibility
+
+/**
+ * @brief Get the metadata size of the frame
+ *
+ * @param[in] frame frame object
+ * @param[out] error Log error messages
+ * @return uint32_t return the metadata size of the frame
+ */
+uint32_t ob_frame_metadata_size(ob_frame *frame, ob_error **error);
+#define ob_video_frame_metadata_size ob_frame_metadata_size  // for compatibility
+
+/**
+ * @brief check if the frame contains the specified metadata
+ *
+ * @param[in] frame frame object
+ * @param[in] type metadata type, refer to @ref ob_frame_metadata_type
+ * @param[out] error Log error messages
+ */
+bool ob_frame_has_metadata(ob_frame *frame, ob_frame_metadata_type type, ob_error **error);
+
+/**
+ * @brief Get the metadata value of the frame
+ *
+ * @param[in] frame frame object
+ * @param[in] type  metadata type, refer to @ref ob_frame_metadata_type
+ * @param[out] error Log error messages
+ * @return int64_t return the metadata value of the frame
+ */
+int64_t ob_frame_get_metadata_value(ob_frame *frame, ob_frame_metadata_type type, ob_error **error);
+
+/**
+ * @brief Get the stream profile of the frame
+ *
+ * @attention Require @ref ob_delete_stream_profile() to release the return stream profile.
+ *
+ * @param frame frame object
+ * @param error Log error messages
+ * @return ob_stream_profile* Return the stream profile of the frame, if the frame is not captured by a sensor stream, it will return NULL
+ */
+ob_stream_profile* ob_frame_get_stream_profile(ob_frame *frame, ob_error **error);
+
+/**
+ * @brief Get the sensor of the frame
+ *
+ * @attention Require @ref ob_delete_sensor() to release the return sensor.
+ *
+ * @param[in] frame frame object
+ * @param[out] error Log error messages
+ * @return ob_sensor* return the sensor of the frame, if the frame is not captured by a sensor or the sensor stream has been destroyed, it will return NULL
+ */
+ob_sensor* ob_frame_get_sensor(ob_frame *frame, ob_error **error);
+
+/**
+ * @brief Get the device of the frame
+ *
+ * @attention Require @ref ob_delete_device() to release the return device.
+ *
+ * @param frame frame object
+ * @param[out] error Log error messages
+ * @return ob_device* return the device of the frame, if the frame is not captured by a sensor stream or the device has been destroyed, it will return NULL
+ */
+ob_device* ob_frame_get_device(ob_frame *frame, ob_error **error);
+
 /**
  * @brief Get video frame width
  *
@@ -120,24 +192,6 @@ uint32_t ob_video_frame_width(ob_frame *frame, ob_error **error);
  */
 uint32_t ob_video_frame_height(ob_frame *frame, ob_error **error);
 
-/**
- * @brief Get the metadata of the frame
- *
- * @param[in] frame  Video frame object
- * @param[out] error Log error messages
- * @return void* return the metadata pointer of the frame
- */
-void *ob_video_frame_metadata(ob_frame *frame, ob_error **error);
-
-/**
- * @brief Get the metadata size of the frame
- *
- * @param[in] frame Video frame object
- * @param[out] error Log error messages
- * @return uint32_t return the metadata size of the frame
- */
-uint32_t ob_video_frame_metadata_size(ob_frame *frame, ob_error **error);
-
 /**
  * @brief  Get the effective number of pixels (such as Y16 format frame, but only the lower 10 bits are effective bits, and the upper 6 bits are filled with 0)
  * @attention Only valid for Y8/Y10/Y11/Y12/Y14/Y16 format
@@ -239,6 +293,16 @@ ob_frame *ob_frameset_points_frame(ob_frame *frameset, ob_error **error);
  */
 ob_frame *ob_frameset_get_frame(ob_frame *frameset, ob_frame_type frame_type, ob_error **error);
 
+/**
+ * @brief Get a frame at a specific index from the FrameSet
+ *
+ * @param[in] frameset Frameset object.
+ * @param[in] index The index of the frame.
+ * @param[out] error Log error messages.
+ * @return ob_frame* Return the frame at the specified index, or nullptr if it does not exist.
+ */
+ob_frame *ob_frameset_get_frame_by_index(ob_frame *frameset, int index, ob_error **error);
+
 /**
  * @brief Get accelerometer frame data.
  *

orbbec_camera/SDK/include/libobsensor/h/ObTypes.h

@@ -213,11 +213,11 @@ typedef enum {
     OB_FORMAT_MJPG       = 5,    /**< MJPEG encoding format */
     OB_FORMAT_H264       = 6,    /**< H.264 encoding format */
     OB_FORMAT_H265       = 7,    /**< H.265 encoding format */
-    OB_FORMAT_Y16        = 8,    /**< Y16 format, single channel 16-bit depth */
+    OB_FORMAT_Y16        = 8,    /**< Y16 format, 16-bit per pixel, single-channel*/
-    OB_FORMAT_Y8         = 9,    /**< Y8 format, single channel 8-bit depth */
+    OB_FORMAT_Y8         = 9,    /**< Y8 format, 8-bit per pixel, single-channel */
-    OB_FORMAT_Y10        = 10,   /**< Y10 format, single channel 10-bit depth (SDK will unpack into Y16 by default) */
+    OB_FORMAT_Y10        = 10,   /**< Y10 format, 10-bit per pixel, single-channel(SDK will unpack into Y16 by default) */
-    OB_FORMAT_Y11        = 11,   /**< Y11 format, single channel 11-bit depth (SDK will unpack into Y16 by default) */
+    OB_FORMAT_Y11        = 11,   /**< Y11 format, 11-bit per pixel, single-channel (SDK will unpack into Y16 by default) */
-    OB_FORMAT_Y12        = 12,   /**< Y12 format, single channel 12-bit depth (SDK will unpack into Y16 by default) */
+    OB_FORMAT_Y12        = 12,   /**< Y12 format, 12-bit per pixel, single-channel(SDK will unpack into Y16 by default) */
     OB_FORMAT_GRAY       = 13,   /**< GRAY (the actual format is the same as YUYV) */
     OB_FORMAT_HEVC       = 14,   /**< HEVC encoding format (the actual format is the same as H265) */
     OB_FORMAT_I420       = 15,   /**< I420 format */
@@ -228,10 +228,14 @@ typedef enum {
     OB_FORMAT_RLE        = 21,   /**< RLE pressure test format (SDK will be unpacked into Y16 by default) */
     OB_FORMAT_RGB        = 22,   /**< RGB format (actual RGB888)  */
     OB_FORMAT_BGR        = 23,   /**< BGR format (actual BGR888) */
-    OB_FORMAT_Y14        = 24,   /**< Y14 format, single channel 14-bit depth (SDK will unpack into Y16 by default) */
+    OB_FORMAT_Y14        = 24,   /**< Y14 format, 14-bit per pixel, single-channel (SDK will unpack into Y16 by default) */
     OB_FORMAT_BGRA       = 25,   /**< BGRA format */
     OB_FORMAT_COMPRESSED = 26,   /**< Compression format */
     OB_FORMAT_RVL        = 27,   /**< RVL pressure test format (SDK will be unpacked into Y16 by default) */
+    OB_FORMAT_Z16        = 28,   /**< Is same as Y16*/
+    OB_FORMAT_YV12       = 29,   /**< Is same as Y12, using for right ir stream*/
+    OB_FORMAT_BA81       = 30,   /**< Is same as Y8, using for right ir stream*/
+    OB_FORMAT_RGBA       = 31,   /**< RGBA format */
     OB_FORMAT_UNKNOWN    = 0xff, /**< unknown format */
 } OBFormat,
     ob_format;
@@ -325,6 +329,28 @@ typedef struct {
     float def;   ///< Default value
 } OBFloatPropertyRange, ob_float_property_range;
 
+/**
+ * @brief Structure for float range
+ */
+typedef struct {
+    uint16_t cur;   ///< Current value
+    uint16_t max;   ///< Maximum value
+    uint16_t min;   ///< Minimum value
+    uint16_t step;  ///< Step value
+    uint16_t def;   ///< Default value
+} OBUint16PropertyRange, ob_uint16_property_range;
+
+/**
+ * @brief Structure for float range
+ */
+typedef struct {
+    uint8_t cur;   ///< Current value
+    uint8_t  max;   ///< Maximum value
+    uint8_t  min;   ///< Minimum value
+    uint8_t  step;  ///< Step value
+    uint8_t  def;   ///< Default value
+} OBUint8PropertyRange, ob_uint8_property_range;
+
 /**
  * @brief Structure for boolean range
  */
@@ -337,7 +363,7 @@ typedef struct {
 } OBBoolPropertyRange, ob_bool_property_range;
 
 /**
- * @brief Structure for camera internal parameters
+ * @brief Structure for camera intrinsic parameters
  */
 typedef struct {
     float   fx;      ///< Focal length in x direction
@@ -348,6 +374,31 @@ typedef struct {
     int16_t height;  ///< Image height
 } OBCameraIntrinsic, ob_camera_intrinsic;
 
+/**
+ * @brief Structure for accelerometer intrinsic parameters
+ */
+typedef struct {
+    double noiseDensity;          ///< In-run bias instability
+    double randomWalk;            ///< random walk
+    double referenceTemp;         ///< reference temperature
+    double bias[3];               ///< bias for x, y, z axis
+    double gravity[3];            ///< gravity direction for x, y, z axis
+    double scaleMisalignment[9];  ///< scale factor and three-axis non-orthogonal error
+    double tempSlope[9];          ///< linear temperature drift coefficient
+} OBAccelIntrinsic, ob_accel_intrinsic;
+
+/**
+ * @brief Structure for gyroscope intrinsic parameters
+ */
+typedef struct {
+    double noiseDensity;          ///< In-run bias instability
+    double randomWalk;            ///< random walk
+    double referenceTemp;         ///< reference temperature
+    double bias[3];               ///< bias for x, y, z axis
+    double scaleMisalignment[9];  ///< scale factor and three-axis non-orthogonal error
+    double tempSlope[9];          ///< linear temperature drift coefficient
+} OBGyroIntrinsic, ob_gyro_intrinsic;
+
 /**
  * @brief Structure for distortion parameters
  */
@@ -362,13 +413,33 @@ typedef struct {
     float p2;  ///< Tangential distortion factor 2
 } OBCameraDistortion, ob_camera_distortion;
 
+/** \brief Distortion model: defines how pixel coordinates should be mapped to sensor coordinates. */
+typedef enum {
+    OB_DISTORTION_NONE,                  /**< Rectilinear images. No distortion compensation required. */
+    OB_DISTORTION_INVERSE_BROWN_CONRADY, /**< Equivalent to Brown-Conrady distortion, except undistorts image instead of distorting it */
+    OB_DISTORTION_BROWN_CONRADY,         /**< Unmodified Brown-Conrady distortion model */
+} OBCameraDistortionModel, ob_camera_distortion_model;
+
+/** \brief Video stream intrinsics. */
+typedef struct {
+    int                 width;  /**< Width of the image in pixels */
+    int                 height; /**< Height of the image in pixels */
+    float               ppx;    /**< Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge */
+    float               ppy;    /**< Vertical coordinate of the principal point of the image, as a pixel offset from the top edge */
+    float               fx;     /**< Focal length of the image plane, as a multiple of pixel width */
+    float               fy;     /**< Focal length of the image plane, as a multiple of pixel height */
+    OBCameraDistortionModel model;  /**< Distortion model of the image */
+    float coeffs[5]; /**< Distortion coefficients. Order for Brown-Conrady: [k1, k2, p1, p2, k3]. Order for F-Theta Fish-eye: [k1, k2, k3, k4, 0]. Other models
+                        are subject to their own interpretations */
+} OBCameraAlignIntrinsic, ob_camera_align_intrinsic;
+
 /**
  * @brief Structure for rotation/transformation
  */
 typedef struct {
     float rot[9];    ///< Rotation matrix
-    float trans[3];  ///< Transformation matrix
+    float trans[3];  ///< Transformation matrix in millimeters
-} OBD2CTransform, ob_d2c_transform, OBTransform, ob_transform;
+} OBD2CTransform, ob_d2c_transform, OBTransform, ob_transform, OBExtrinsic, ob_extrinsic;
 
 /**
  * @brief Structure for camera parameters
@@ -400,7 +471,7 @@ typedef struct {
 typedef struct {
     OBCameraIntrinsic  intrinsics[OB_SENSOR_COUNT];            ///< Sensor internal parameters
     OBCameraDistortion distortion[OB_SENSOR_COUNT];            ///< Sensor distortion
-    OBTransform extrinsics[OB_SENSOR_COUNT][OB_SENSOR_COUNT];  ///< The extrinsic parameters allow 3D coordinate conversions between sensor.To transform from a
+    OBExtrinsic extrinsics[OB_SENSOR_COUNT][OB_SENSOR_COUNT];  ///< The extrinsic parameters allow 3D coordinate conversions between sensor.To transform from a
                                                                ///< source to a target 3D coordinate system,under extrinsics[source][target].
 } OBCalibrationParam, ob_calibration_param;
 
@@ -456,28 +527,41 @@ typedef struct {
  * @brief Enumeration of format conversion types
  */
 typedef enum {
-    FORMAT_YUYV_TO_RGB888 = 0, /**< YUYV to RGB888 */
+    FORMAT_YUYV_TO_RGB = 0, /**< YUYV to RGB */
-    FORMAT_I420_TO_RGB888,     /**< I420 to RGB888 */
+    FORMAT_I420_TO_RGB,     /**< I420 to RGB */
-    FORMAT_NV21_TO_RGB888,     /**< NV21 to RGB888 */
+    FORMAT_NV21_TO_RGB,     /**< NV21 to RGB */
-    FORMAT_NV12_TO_RGB888,     /**< NV12 to RGB888 */
+    FORMAT_NV12_TO_RGB,     /**< NV12 to RGB */
-    FORMAT_MJPG_TO_I420,       /**< MJPG to I420 */
+    FORMAT_MJPG_TO_I420,    /**< MJPG to I420 */
-    FORMAT_RGB888_TO_BGR,      /**< RGB888 to BGR */
+    FORMAT_RGB_TO_BGR,      /**< RGB888 to BGR */
-    FORMAT_MJPG_TO_NV21,       /**< MJPG to NV21 */
+    FORMAT_MJPG_TO_NV21,    /**< MJPG to NV21 */
-    FORMAT_MJPG_TO_RGB888,     /**< MJPG to RGB888 */
+    FORMAT_MJPG_TO_RGB,     /**< MJPG to RGB */
-    FORMAT_MJPG_TO_BGR888,     /**< MJPG to BGR888 */
+    FORMAT_MJPG_TO_BGR,     /**< MJPG to BGR */
-    FORMAT_MJPG_TO_BGRA,       /**< MJPG to BGRA */
+    FORMAT_MJPG_TO_BGRA,    /**< MJPG to BGRA */
-    FORMAT_UYVY_TO_RGB888,     /**< UYVY to RGB888 */
+    FORMAT_UYVY_TO_RGB,     /**< UYVY to RGB */
-    FORMAT_BGR_TO_RGB,         /**< BGR to RGB */
+    FORMAT_BGR_TO_RGB,      /**< BGR to RGB */
-    FORMAT_MJPG_TO_NV12,       /**< MJPG to NV12 */
+    FORMAT_MJPG_TO_NV12,    /**< MJPG to NV12 */
+    FORMAT_YUYV_TO_BGR,     /**< YUYV to BGR */
+    FORMAT_YUYV_TO_RGBA,    /**< YUYV to RGBA */
+    FORMAT_YUYV_TO_BGRA,    /**< YUYV to BGRA */
+    FORMAT_YUYV_TO_Y16,     /**< YUYV to Y16 */
+    FORMAT_YUYV_TO_Y8,      /**< YUYV to Y8 */
 } OBConvertFormat,
     ob_convert_format;
 
 // DEPRECATED: Only used for old version program compatibility, will be completely deleted in subsequent iterative versions
 #define FORMAT_MJPEG_TO_I420 FORMAT_MJPG_TO_I420
 #define FORMAT_MJPEG_TO_NV21 FORMAT_MJPG_TO_NV21
-#define FORMAT_MJPEG_TO_RGB888 FORMAT_MJPG_TO_RGB888
-#define FORMAT_MJPEG_TO_BGR888 FORMAT_MJPG_TO_BGR888
 #define FORMAT_MJPEG_TO_BGRA FORMAT_MJPG_TO_BGRA
+#define FORMAT_YUYV_TO_RGB888 FORMAT_YUYV_TO_RGB
+#define FORMAT_I420_TO_RGB888 FORMAT_I420_TO_RGB
+#define FORMAT_NV21_TO_RGB888 FORMAT_NV21_TO_RGB
+#define FORMAT_NV12_TO_RGB888 FORMAT_NV12_TO_RGB
+#define FORMAT_UYVY_TO_RGB888 FORMAT_UYVY_TO_RGB
+#define FORMAT_MJPG_TO_RGB888 FORMAT_MJPG_TO_RGB
+#define FORMAT_MJPG_TO_BGR888 FORMAT_MJPG_TO_BGR
+#define FORMAT_MJPEG_TO_RGB888 FORMAT_MJPG_TO_RGB
+#define FORMAT_MJPEG_TO_BGR888 FORMAT_MJPG_TO_BGR
+#define FORMAT_RGB888_TO_BGR FORMAT_RGB_TO_BGR
 
 /**
  * @brief Enumeration of IMU sample rate values (gyroscope or accelerometer)
@@ -848,6 +932,37 @@ typedef struct {
     char name[32];
 } OBDepthWorkMode, ob_depth_work_mode;
 
+/**
+ * @brief Hole fillig mode
+ */
+typedef enum {
+    OB_HOLE_FILL_TOP     = 0,
+    OB_HOLE_FILL_NEAREST = 1,  // "max" means farest for depth, and nearest for disparity; FILL_NEAREST
+    OB_HOLE_FILL_FAREST  = 2,  // FILL_FAREST
+} OBHoleFillingMode, ob_hole_filling_mode;
+
+typedef struct {
+    uint8_t               magnitude;  // magnitude
+    float                 alpha;      // smooth_alpha
+    uint16_t              disp_diff;  // smooth_delta
+    uint16_t              radius;     // hole_fill
+} OBSpatialAdvancedFilterParams, ob_spatial_advanced_filter_params;
+
+/**
+ * @brief 去噪方式
+ */
+typedef enum OB_DDO_NOISE_REMOVAL_TYPE {
+    OB_NR_LUT     = 0,  // SPLIT
+    OB_NR_OVERALL = 1,  // NON_SPLIT
+} OBDDONoiseRemovalType, ob_ddo_noise_removal_type;
+
+typedef struct {
+    uint16_t            size;
+    uint16_t            disp_diff;
+    OBDDONoiseRemovalType type;
+} OBNoiseRemovalFilterParams, ob_noise_removal_filter_params;
+;
+
 /**
  * @brief Control command protocol version number
  */
@@ -1254,6 +1369,225 @@ typedef struct {
     float zpd;
 } BASELINE_CALIBRATION_PARAM, ob_baseline_calibration_param, OBBaselineCalibrationParam;
 
+/**
+ * @brief HDR Configuration
+ */
+typedef struct {
+
+    /**
+     * @brief Enable/disable HDR, after enabling HDR, the exposure_1 and gain_1 will be used as the first exposure and gain, and the exposure_2 and gain_2 will
+     * be used as the second exposure and gain. The output image will be alternately exposed and gain between the first and second
+     * exposure and gain.
+     *
+     * @attention After enabling HDR, the auto exposure will be disabled.
+     */
+    uint8_t  enable;
+    uint8_t  sequence_name;  ///< Sequence name
+    uint32_t exposure_1;     ///< Exposure time 1
+    uint32_t gain_1;         ///< Gain 1
+    uint32_t exposure_2;     ///< Exposure time 2
+    uint32_t gain_2;         ///< Gain 2
+} HDR_CONFIG, ob_hdr_config, OBHdrConfig;
+
+/**
+ * @brief The rect of the region of interest
+ */
+typedef struct {
+    int16_t x0_left;
+    int16_t y0_top;
+    int16_t x1_right;
+    int16_t y1_bottom;
+} AE_ROI, ob_region_of_interest, OBRegionOfInterest;
+
+/**
+ * @brief Frame metadata types
+ * @brief The frame metadata is a set of meta info generated by the device for current individual frame.
+ */
+typedef enum {
+    /**
+     * @brief Timestamp when the frame is captured.
+     * @attention Different device models may have different units. It is recommended to use the timestamp related functions to get the timestamp in the
+     * correct units.
+     */
+    OB_FRAME_METADATA_TYPE_TIMESTAMP = 0,
+
+    /**
+     * @brief Timestamp in the middle of the capture.
+     * @brief Usually is the middle of the exposure time.
+     *
+     * @attention Different device models may have different units.
+     */
+    OB_FRAME_METADATA_TYPE_SENSOR_TIMESTAMP = 1,
+
+    /**
+     * @brief The number of current frame.
+     */
+    OB_FRAME_METADATA_TYPE_FRAME_NUMBER = 2,
+
+    /**
+     * @brief Auto exposure status
+     * @brief If the value is 0, it means the auto exposure is disabled. Otherwise, it means the auto exposure is enabled.
+     */
+    OB_FRAME_METADATA_TYPE_AUTO_EXPOSURE = 3,
+
+    /**
+     * @brief Exposure time
+     *
+     * @attention Different sensor may have different units. Usually, it is 100us for color sensor and 1us for depth/infrared sensor.
+     */
+    OB_FRAME_METADATA_TYPE_EXPOSURE = 4,
+
+    /**
+     * @brief Gain
+     *
+     * @attention For some device models, the gain value represents the gain level, not the multiplier.
+     */
+    OB_FRAME_METADATA_TYPE_GAIN = 5,
+
+    /**
+     * @brief Auto white balance status
+     * @brief If the value is 0, it means the auto white balance is disabled. Otherwise, it means the auto white balance is enabled.
+     */
+    OB_FRAME_METADATA_TYPE_AUTO_WHITE_BALANCE = 6,
+
+    /**
+     * @brief White balance
+     */
+    OB_FRAME_METADATA_TYPE_WHITE_BALANCE = 7,
+
+    /**
+     * @brief Brightness
+     */
+    OB_FRAME_METADATA_TYPE_BRIGHTNESS = 8,
+
+    /**
+     * @brief Contrast
+     */
+    OB_FRAME_METADATA_TYPE_CONTRAST = 9,
+
+    /**
+     * @brief Saturation
+     */
+    OB_FRAME_METADATA_TYPE_SATURATION = 10,
+
+    /**
+     * @brief Sharpness
+     */
+    OB_FRAME_METADATA_TYPE_SHARPNESS = 11,
+
+    /**
+     * @brief Backlight compensation
+     */
+    OB_FRAME_METADATA_TYPE_BACKLIGHT_COMPENSATION = 12,
+
+    /**
+     * @brief Hue
+     */
+    OB_FRAME_METADATA_TYPE_HUE = 13,
+
+    /**
+     * @brief Gamma
+     */
+    OB_FRAME_METADATA_TYPE_GAMMA = 14,
+
+    /**
+     * @brief Power line frequency
+     * @brief For anti-flickering， 0：Close， 1： 50Hz， 2： 60Hz， 3： Auto
+     */
+    OB_FRAME_METADATA_TYPE_POWER_LINE_FREQUENCY = 15,
+
+    /**
+     * @brief Low light compensation
+     *
+     * @attention The low light compensation is a feature inside the device，and can not manually control it.
+     */
+    OB_FRAME_METADATA_TYPE_LOW_LIGHT_COMPENSATION = 16,
+
+    /**
+     * @brief Manual white balance setting
+     */
+    OB_FRAME_METADATA_TYPE_MANUAL_WHITE_BALANCE = 17,
+
+    /**
+     * @brief Actual frame rate
+     * @brief The actual frame rate will be calculated according to the exposure time and other parameters.
+     */
+    OB_FRAME_METADATA_TYPE_ACTUAL_FRAME_RATE = 18,
+
+    /**
+     * @brief Frame rate
+     */
+    OB_FRAME_METADATA_TYPE_FRAME_RATE = 19,
+
+    /**
+     * @brief Left region of interest for the auto exposure Algorithm.
+     */
+    OB_FRAME_METADATA_TYPE_AE_ROI_LEFT = 20,
+
+    /**
+     * @brief Top region of interest for the auto exposure Algorithm.
+     */
+    OB_FRAME_METADATA_TYPE_AE_ROI_TOP = 21,
+
+    /**
+     * @brief Right region of interest for the auto exposure Algorithm.
+     */
+    OB_FRAME_METADATA_TYPE_AE_ROI_RIGHT = 22,
+
+    /**
+     * @brief Bottom region of interest for the auto exposure Algorithm.
+     */
+    OB_FRAME_METADATA_TYPE_AE_ROI_BOTTOM = 23,
+
+    /**
+     * @brief Exposure priority
+     */
+    OB_FRAME_METADATA_TYPE_EXPOSURE_PRIORITY = 24,
+
+    /**
+     * @brief HDR sequence name
+     */
+    OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_NAME = 25,
+
+    /**
+     * @brief HDR sequence size
+     */
+    OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_SIZE = 26,
+
+    /**
+     * @brief HDR sequence index
+     */
+    OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_INDEX = 27,
+
+    /**
+     * @brief Laser power value in mW
+     */
+    OB_FRAME_METADATA_TYPE_LASER_POWER = 28,
+
+    /**
+     * @brief Laser power mode
+     * @brief 0: Laser off, 1: Laser on
+     */
+    OB_FRAME_METADATA_TYPE_LASER_POWER_MODE = 29,
+
+    /**
+     * @brief Emitter mode
+     * @brief 0: Laser off, 1: Laser on, 2: auto
+     */
+    OB_FRAME_METADATA_TYPE_EMITTER_MODE = 30,
+
+    /**
+     * @brief GPIO input data
+     */
+    OB_FRAME_METADATA_TYPE_GPIO_INPUT_DATA = 31,
+
+    /**
+     * @brief The number of frame metadata types, using for types iterating
+     */
+    OB_FRAME_METADATA_TYPE_COUNT,
+} ob_frame_metadata_type,
+    OBFrameMetadataType;
+
 /**
  * @brief Callback for file transfer
  *
@@ -1356,8 +1690,6 @@ typedef void(ob_frame_destroy_callback)(void *buffer, void *user_data);
  */
 typedef void(ob_log_callback)(ob_log_severity severity, const char *message, void *user_data);
 
-typedef void(ob_get_imu_data_callback)(const uint8_t *data, uint32_t dataLen);
-
 /**
  * @brief Check if sensor_type is an IR sensor
  *

orbbec_camera/SDK/include/libobsensor/h/Pipeline.h

@@ -84,6 +84,7 @@ void ob_pipeline_stop(ob_pipeline *pipeline, ob_error **error);
 
 /**
  * @brief Get the configuration object associated with the pipeline
+ * @brief Returns default configuration if the user has not configured
  *
  * @param[in] pipeline The pipeline object
  * @param[out] error Log error messages
@@ -262,6 +263,7 @@ void ob_delete_config(ob_config *config, ob_error **error);
 void ob_config_enable_stream(ob_config *config, ob_stream_profile *profile, ob_error **error);
 
 /**
+ * @deprecated Use @ref ob_config_enable_stream instead
  * @brief Enable all streams in the pipeline configuration
  *
  * @param[in] config The pipeline configuration
@@ -269,6 +271,15 @@ void ob_config_enable_stream(ob_config *config, ob_stream_profile *profile, ob_e
  */
 void ob_config_enable_all_stream(ob_config *config, ob_error **error);
 
+/**
+ * @brief  Get the enabled stream profile list in the pipeline configuration
+ *
+ * @param config The pipeline configuration
+ * @param error Log error messages
+ * @return ob_stream_profile_list* The enabled stream profile list, should be released by @ref ob_delete_stream_profile_list after use
+ */
+ob_stream_profile_list *ob_config_get_enabled_stream_profile_list(ob_config *config, ob_error **error);
+
 /**
  * @brief Disable a specific stream in the pipeline configuration
  *

orbbec_camera/SDK/include/libobsensor/h/Property.h

@@ -384,6 +384,29 @@ typedef enum {
      */
     OB_PROP_LASER_PULSE_WIDTH_PROTECTION_STATUS_BOOL = 149,
 
+    /**
+     * @brief Laser always on, true: always on, false: off, laser will be turned off when out of exposure time
+     */
+    OB_PROP_LASER_ALWAYS_ON_BOOL = 174,
+
+    /**
+     * @brief Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate
+     * @attention When turn on this mode, the laser will turn on and turn off alternately each frame.
+     */
+    OB_PROP_LASER_ON_OFF_MODE_INT = 175,
+
+    /**
+     * @brief Depth unit flexible adjustment\
+     * @brief This property allows continuous adjustment of the depth unit, unlike @ref OB_PROP_DEPTH_PRECISION_LEVEL_INT must be set to some fixed value.
+     */
+    OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT = 176,
+
+    /**
+     * @brief Laser control, 0: off, 1: on, 2: auto
+     *
+     */
+    OB_PROP_LASER_CONTROL_INT = 182,
+
     /**
      * @brief Baseline calibration parameters
      */
@@ -442,6 +465,32 @@ typedef enum {
      */
     OB_STRUCT_DEVICE_STATIC_IP_CONFIG_RECORD = 1053,
 
+    /**
+     * @brief Using to configure the depth sensor's HDR mode
+     * @brief The Value type is @ref OBHdrConfig
+     *
+     * @attention After enable HDR mode, the depth sensor auto exposure will be disabled.
+     */
+    OB_STRUCT_DEPTH_HDR_CONFIG = 1059,
+
+    /**
+     * @brief Color Sensor AE ROI configuration
+     * @brief The Value type is @ref OBRegionOfInterest
+     */
+    OB_STRUCT_COLOR_AE_ROI = 1060,
+
+    /**
+     * @brief Depth Sensor AE ROI configuration
+     * @brief The Value type is @ref OBRegionOfInterest
+     * @brief Since the ir sensor is the same physical sensor as the depth sensor, this property will also effect the ir sensor.
+     */
+    OB_STRUCT_DEPTH_AE_ROI = 1061,
+
+    /**
+     * @brief ASIC serial number
+     */
+    OB_STRUCT_ASIC_SERIAL_NUMBER = 1063,
+
     /**
      * @brief Color camera auto exposure
      */
@@ -592,6 +641,11 @@ typedef enum {
      */
     OB_PROP_SKIP_FRAME_BOOL = 2036,
 
+    /**
+     * @brief Depth HDR merge, true: on, false: off.
+     */
+    OB_PROP_HDR_MERGE_BOOL = 2037,
+
     /**
      * @brief Software disparity to depth
      */

orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h

@@ -14,7 +14,7 @@ extern "C" {
 /**
  * @brief Get stream profile format
  *
- * @param[in] profile  Stream configuration object
+ * @param[in] profile  Stream profile object
  * @param[out] error  Log error messages
  * @return ob_format return the format of the stream
  */
@@ -23,42 +23,71 @@ ob_format ob_stream_profile_format(ob_stream_profile *profile, ob_error **error)
 /**
  * @brief Get stream profile type
  *
- * @param[in] profile Stream configuration object
+ * @param[in] profile Stream profile object
  * @param[out] error Log error messages
  * @return ob_stream_type stream type
  */
 ob_stream_type ob_stream_profile_type(ob_stream_profile *profile, ob_error **error);
 
 /**
- * @brief Get the frame rate of the video stream configuration
+ * @brief Get the extrinsic for source stream to target stream
  *
- * @param[in] profile Stream configuration object
+ * @param source Source stream profile
+ * @param target Target stream profile
+ * @param error Log error messages
+ * @return ob_extrinsic The extrinsic
+ */
+ob_extrinsic ob_stream_profile_get_extrinsic_to(ob_stream_profile *source, ob_stream_profile *target, ob_error **error);
+
+/**
+ * @brief Get the frame rate of the video stream
+ *
+ * @param[in] profile Stream profile object
  * @param[out] error Log error messages
  * @return uint32_t return the frame rate of the stream
  */
 uint32_t ob_video_stream_profile_fps(ob_stream_profile *profile, ob_error **error);
 
 /**
- * @brief Get the width of the video stream configuration
+ * @brief Get the width of the video stream
  *
- * @param[in] profile Stream configuration object, if the configuration is not a video stream configuration, an error will be returned
+ * @param[in] profile Stream profile object , If the profile is not a video stream configuration, an error will be returned
  * @param[out] error Log error messages
  * @return uint32_t return the width of the stream
  */
 uint32_t ob_video_stream_profile_width(ob_stream_profile *profile, ob_error **error);
 
 /**
- * @brief Get the height of the video stream configuration
+ * @brief Get the height of the video stream
  *
- * @param[in] profile Stream configuration object, if the configuration is not a video stream configuration, an error will be returned
+ * @param[in] profile Stream profile object , If the profile is not a video stream configuration, an error will be returned
  * @param[out] error  Log error messages
  * @return uint32_t return the height of the stream
  */
 uint32_t ob_video_stream_profile_height(ob_stream_profile *profile, ob_error **error);
+
+/**
+ * @brief Get the intrinsic of the video stream
+ *
+ * @param profile Stream profile object
+ * @param error   Log error messages
+ * @return ob_camera_intrinsic Return the intrinsic of the stream
+ */
+ob_camera_intrinsic ob_video_stream_get_intrinsic(ob_stream_profile *profile, ob_error **error);
+
+/**
+ * @brief Get the distortion of the video stream
+ *
+ * @param profile Stream profile object
+ * @param error   Log error messages
+ * @return ob_camera_distortion Return the distortion of the stream
+ */
+ob_camera_distortion ob_video_stream_get_distortion(ob_stream_profile *profile, ob_error **error);
+
 /**
  * @brief Get the full-scale range of the accelerometer stream.
  *
- * @param[in] profile Stream configuration object. If the configuration is not for the accelerometer stream, an error will be returned.
+ * @param[in] profile Stream profile object. If the profile is not for the accelerometer stream, an error will be returned.
  * @param[out] error Log error messages.
  * @return The full-scale range of the accelerometer stream.
  */
@@ -67,25 +96,43 @@ ob_accel_full_scale_range ob_accel_stream_profile_full_scale_range(ob_stream_pro
 /**
  * @brief Get the sampling frequency of the accelerometer frame.
  *
- * @param[in] profile Stream configuration object. If the configuration is not for the accelerometer stream, an error will be returned.
+ * @param[in] profile Stream profile object. If the profile is not for the accelerometer stream, an error will be returned.
  * @param[out] error Log error messages.
  * @return The sampling frequency of the accelerometer frame.
  */
 ob_accel_sample_rate ob_accel_stream_profile_sample_rate(ob_stream_profile *profile, ob_error **error);
 
+/**
+ * @brief Get the intrinsic of the accelerometer stream.
+ *
+ * @param profile Stream profile object. If the profile is not for the accelerometer stream, an error will be returned.
+ * @param error Log error messages.
+ * @return ob_accel_intrinsic Return the intrinsic of the accelerometer stream.
+ */
+ob_accel_intrinsic ob_accel_stream_profile_get_intrinsic(ob_stream_profile *profile, ob_error **error);
+
 /**
  * @brief Get the full-scale range of the gyroscope stream.
  *
- * @param[in] profile Stream configuration object. If the configuration is not for the gyroscope stream, an error will be returned.
+ * @param[in] profile Stream profile object. If the profile is not for the gyroscope stream, an error will be returned.
  * @param[out] error Log error messages.
  * @return The full-scale range of the gyroscope stream.
  */
 ob_gyro_full_scale_range ob_gyro_stream_profile_full_scale_range(ob_stream_profile *profile, ob_error **error);
 
+/**
+ * @brief Get the intrinsic of the gyroscope stream.
+ *
+ * @param profile Stream profile object. If the profile is not for the gyroscope stream, an error will be returned.
+ * @param error Log error messages.
+ * @return ob_gyro_intrinsic Return the intrinsic of the gyroscope stream.
+ */
+ob_gyro_intrinsic ob_gyro_stream_get_intrinsic(ob_stream_profile *profile, ob_error **error);
+
 /**
  * @brief Get the sampling frequency of the gyroscope stream.
  *
- * @param[in] profile Stream configuration object. If the configuration is not for the gyroscope stream, an error will be returned.
+ * @param[in] profile Stream profile object. If the profile is not for the gyroscope stream, an error will be returned.
  * @param[out] error Log error messages.
  * @return The sampling frequency of the gyroscope stream.
  */
@@ -162,7 +209,7 @@ void ob_delete_stream_profile_list(ob_stream_profile_list *profile_list, ob_erro
 /**
  * @brief Delete the stream configuration.
  *
- * @param[in] profile Stream configuration object.
+ * @param[in] profile Stream profile object .
  * @param[out] error Log error messages.
  */
 void ob_delete_stream_profile(ob_stream_profile *profile, ob_error **error);

orbbec_camera/SDK/include/libobsensor/h/Utils.h

@@ -37,23 +37,6 @@ bool ob_calibration_3d_to_3d(const ob_calibration_param calibration_param, const
 bool ob_calibration_2d_to_3d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
                              const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
 
-/**
- * @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[in] calibration_param Device calibration param,see pipeline::getCalibrationParam
- * @param[in] source_point2f Source 2d point value
- * @param[in] source_depth_pixel_value The depth of sourcePoint2f in millimeters
- * @param[in] source_sensor_type Source sensor type
- * @param[in] target_sensor_type Target sensor type
- * @param[out] target_point3f Target 3d point value
- * @param[out] error Log error messages
- *
- * @return bool Transform result
- */
-bool ob_calibration_2d_to_3d_undistortion(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
-                                          const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f,
-                                          ob_error **error);
-
 /**
  * @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
  *
@@ -105,7 +88,7 @@ ob_frame *transformation_depth_frame_to_color_camera(ob_device *device, ob_frame
  * @param[in] calibration_param Device calibration param,see pipeline::getCalibrationParam
  * @param[in] sensor_type sensor type
  * @param[in] data input data,needs to be allocated externally.During initialization, the external allocation size is 'data_size', for example, data_size = 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[in] data_size input data size
  * @param[out] xy_tables output xy tables
  * @param[out] error Log error messages
@@ -125,18 +108,6 @@ bool transformation_init_xy_tables(const ob_calibration_param calibration_param,
  */
 void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error);
 
-/**
- * @brief Transform depth image to point cloud data
- *
- * @param[in] xy_tables input xy tables,see transformation_init_xy_tables
- * @param[in] depth_image_data input depth image data
- * @param[in] color_image_data input color image data (only RGB888 support)
- * @param[out] pointcloud_data output point cloud data
- * @param[out] error Log error messages
- */
-void transformation_depth_to_rgbd_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data,
-                                             ob_error **error);
-
 #ifdef __cplusplus
 }
 #endif

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

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9

@@ -1 +1 @@
-libOrbbecSDK.so.1.9.4
+libOrbbecSDK.so.1.9.2