Adapter Femto bolt device.

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

@@ -480,7 +480,7 @@ public:
      * OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING
      *
      * @attention The frequency of the user call this function multiplied by the number of frames per trigger should be less than the frame rate of the stream.
-     * The number of frames per trigger can be set by @ref framesPerTriggerForTriggeringMode.
+     * The number of frames per trigger can be set by @ref framesPerTrigger.
      * @attention For some models，receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling
      * this function should not be too high, please refer to the product manual for the specific supported frequency.
      * @attention If the device is not in the @ref OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.

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

@@ -360,6 +360,18 @@ public:
     float temperature();
 };
 
+/**
+ * @brief Define the RawPhaseFrame class, which inherits from the VideoFrame class
+ */
+class OB_EXTENSION_API RawPhaseFrame : public VideoFrame {
+public:
+    explicit RawPhaseFrame(Frame &frame);
+
+    explicit RawPhaseFrame(std::unique_ptr<FrameImpl> impl);
+
+    ~RawPhaseFrame() noexcept override = default;
+};
+
 /**
  * @brief Define the FrameHelper class
  */
@@ -455,6 +467,8 @@ template <typename T> bool Frame::is() {
         return (typeid(T) == typeid(FrameSet));
     case OB_FRAME_POINTS:
         return (typeid(T) == typeid(PointsFrame));
+    case OB_FRAME_RAW_PHASE:
+        return (typeid(T) == typeid(RawPhaseFrame) || typeid(T) == typeid(VideoFrame));
     default:
         std::cout << "ob::Frame::is() did not catch frame type: " << (int)this->type() << std::endl;
         break;

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

@@ -161,6 +161,7 @@ template <typename T> bool StreamProfile::is() {
     case OB_STREAM_IR_RIGHT:
     case OB_STREAM_COLOR:
     case OB_STREAM_DEPTH:
+    case OB_STREAM_RAW_PHASE:
         return typeid(T) == typeid(VideoStreamProfile);
     case OB_STREAM_ACCEL:
         return typeid(T) == typeid(AccelStreamProfile);