Update Orbbec SDK to version 2.5.0

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

@@ -1736,6 +1736,16 @@ typedef enum {
 } ob_playback_status,
     OBPlaybackStatus;
 
+/**
+ * @brief Intra-camera Sync Reference based on the exposure start time, the exposure middle time, or the exposure end time.
+ */
+typedef enum {
+    START_OF_EXPOSURE = 0, /**< start of exposure */
+    MIDDLE_OF_EXPOSURE,    /**< middle of exposure */
+    END_OF_EXPOSURE,       /**< end of exposure  */
+} ob_intra_camera_sync_reference,
+    OBIntraCameraSyncReference;
+
 // For compatibility
 #define OB_FRAME_METADATA_TYPE_LASER_POWER_MODE OB_FRAME_METADATA_TYPE_LASER_POWER_LEVEL
 #define OB_FRAME_METADATA_TYPE_EMITTER_MODE OB_FRAME_METADATA_TYPE_LASER_STATUS

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

@@ -545,6 +545,12 @@ typedef enum {
      */
     OB_PROP_CONFIDENCE_ROTATE_INT = 231,
 
+    /**
+     * @brief Intra-camera Sync Reference based on the exposure start time, the exposure middle time, or the exposure end time. the definition in @ref
+     * OBIntraCameraSyncReference
+     */
+    OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT = 236,
+
     /**
      * @brief Baseline calibration parameters
      */

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

@@ -832,7 +832,6 @@ public:
     }
 };
 
-
 /**
  * @brief The Spatial Moderate Filter utilizes an optimized average smoothing algorithm,
  * to achieve a balance between processing speed and the quality of smoothing achieved.
@@ -924,7 +923,6 @@ public:
     }
 };
 
-
 /**
  * @brief Hole filling filter,the processing performed depends on the selected hole filling mode.
  */
@@ -1157,24 +1155,33 @@ public:
 };
 
 /**
- * @brief Define the Filter type map
+ * @brief Returns the mapping of filter type names to their corresponding type_index.
  */
-static const std::unordered_map<std::string, std::type_index> obFilterTypeMap = {
+inline const std::unordered_map<std::string, std::type_index> &getFilterTypeMap() {
+    static const std::unordered_map<std::string, std::type_index> filterTypeMap = {
         { "PointCloudFilter", typeid(PointCloudFilter) },   { "Align", typeid(Align) },
         { "FormatConverter", typeid(FormatConvertFilter) }, { "HDRMerge", typeid(HdrMerge) },
         { "SequenceIdFilter", typeid(SequenceIdFilter) },   { "DecimationFilter", typeid(DecimationFilter) },
         { "ThresholdFilter", typeid(ThresholdFilter) },     { "SpatialAdvancedFilter", typeid(SpatialAdvancedFilter) },
         { "HoleFillingFilter", typeid(HoleFillingFilter) }, { "NoiseRemovalFilter", typeid(NoiseRemovalFilter) },
-    { "TemporalFilter", typeid(TemporalFilter) },       { "DisparityTransform", typeid(DisparityTransform) }
+        { "TemporalFilter", typeid(TemporalFilter) },       { "DisparityTransform", typeid(DisparityTransform) },
+        { "SpatialFastFilter", typeid(SpatialFastFilter) }, { "SpatialModerateFilter", typeid(SpatialModerateFilter) },
     };
+    return filterTypeMap;
+}
 
 /**
  * @brief Define the is() template function for the Filter class
+ *
+ * @note When adding a new filter class, ensure the filter type map
+ *       (see getFilterTypeMap()) is updated accordingly to maintain correct type matching.
  */
 template <typename T> bool Filter::is() {
     std::string name = type();
-    auto        it   = obFilterTypeMap.find(name);
-    if(it != obFilterTypeMap.end()) {
+
+    const auto &filterTypeMap = getFilterTypeMap();
+    auto        it            = filterTypeMap.find(name);
+    if(it != filterTypeMap.end()) {
         return std::type_index(typeid(T)) == it->second;
     }
     return false;

orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.11"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.0"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.11" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.0" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.4.11
+libOrbbecSDK.so.2.5.0

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

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.11"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.0"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.11" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.0" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.4.11
+libOrbbecSDK.so.2.5.0

orbbec_camera/config/OrbbecSDKConfig_v2.0.xml

@@ -1424,6 +1424,82 @@
                 <Format>Y8</Format>
             </RightIR>
         </Gemini336L>
+        <!-- Gemini2R config -->
+        <Gemini338>
+            <!-- Default backend for Linux UVC devices. If the LinuxUVCBackend is set to "Auto,"
+            this item will determine the device's speciality. Optional values: V4L2, LibUVC -->
+            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
+
+            <Misc>
+                <GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
+                <!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
+                minimum value: 100, it is recommended not to be greater than 1000 -->
+                <GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
+                <!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
+                <GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
+            </Misc>
+
+            <DepthPostProcessing>
+                <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
+                <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
+            </DepthPostProcessing>
+
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+
+            <!--  Depth Filter Params -->
+            <!--
+            <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
+			 -->
+            <Depth>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>480</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y16</Format>
+            </Depth>
+            <Color>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>720</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>MJPG</Format>
+            </Color>
+            <IR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>480</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </IR>
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>480</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>480</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </RightIR>
+        </Gemini338>
 
         <!--DaBaiA config-->
         <DaBaiA>

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -584,7 +584,6 @@ class OBCameraNode {
   int depth_brightness_ = -1;
   int depth_exposure_ = -1;
   int depth_gain_ = -1;
-  int mean_intensity_set_point_ = -1;
   int ir_exposure_ = -1;
   int ir_gain_ = -1;
   int ir_ae_max_exposure_ = -1;