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Orbbec SDK v2 integration (new CameraOrbbecSDK class) (#1590)

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* Orbbec SDK 2 integration (new CameraOrbbecSDK class)

* Added rectification option, fixed the build without orbbec sdk

* Fixed timestamp issue on Windows

* Removed WITH_ORBBEC_SDK=ON by default in case v1 is installed. Enabled inter imu when selecting orbbec sdk.

* requiring orbbec version=2 to avoid confusion

* Finalizing options
This commit is contained in:
matlabbe
2025-10-07 10:22:16 -07:00
committed by GitHub
parent 5aec9bacec
commit f0dab18005
22 changed files with 3078 additions and 1816 deletions
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21
CMakeLists.txt
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@@ -207,6 +207,7 @@ option(WITH_REALSENSE2 "Include RealSense support" ON)
option(WITH_MYNTEYE "Include mynteye-s support" ON)
option(WITH_DEPTHAI "Include depthai-core support" OFF)
option(WITH_XVSDK "Include XVisio SDK support" OFF)
option(WITH_ORBBEC_SDK "Include Orbbec SDK v2 support" OFF)
option(WITH_OCTOMAP "Include OctoMap support" ON)
option(WITH_GRIDMAP "Include GridMap support" OFF)
option(WITH_CPUTSDF "Include CPUTSDF support" OFF)
@@ -698,6 +699,13 @@ IF(WITH_XVSDK)
ENDIF(xvsdk_FOUND)
ENDIF(WITH_XVSDK)
IF(WITH_ORBBEC_SDK)
FIND_PACKAGE(OrbbecSDK 2 QUIET)
IF(OrbbecSDK_FOUND)
MESSAGE(STATUS "Found OrbbecSDK v2 (targets)")
ENDIF(OrbbecSDK_FOUND)
ENDIF(WITH_ORBBEC_SDK)
IF(WITH_OCTOMAP)
FIND_PACKAGE(octomap QUIET)
IF(octomap_FOUND)
@@ -1080,6 +1088,9 @@ IF(NOT xvsdk_FOUND)
ELSE()
SET(CONF_WITH_XVSDK 1)
ENDIF()
IF(NOT OrbbecSDK_FOUND)
SET(ORBBEC_SDK "//")
ENDIF(NOT OrbbecSDK_FOUND)
IF(NOT octomap_FOUND)
SET(OCTOMAP "//")
SET(CONF_WITH_OCTOMAP 0)
@@ -1592,7 +1603,7 @@ ENDIF()
IF(grid_map_core_FOUND)
MESSAGE(STATUS " With GridMap ${grid_map_core_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_OCTOMAP)
ELSEIF(NOT WITH_GRIDMAP)
MESSAGE(STATUS " With GridMap = NO (WITH_GRIDMAP=OFF)")
ELSE()
MESSAGE(STATUS " With GridMap = NO (grid_map_core not found)")
@@ -1755,6 +1766,14 @@ ELSE()
MESSAGE(STATUS " With XVisio SDK = NO (xvsdk not found)")
ENDIF()
IF(OrbbecSDK_FOUND)
MESSAGE(STATUS " With Orbbec SDK ${OrbbecSDK_VERSION} = YES (License: MIT)")
ELSEIF(NOT WITH_ORBBEC_SDK)
MESSAGE(STATUS " With Orbbec SDK = NO (WITH_ORBBEC_SDK=OFF)")
ELSE()
MESSAGE(STATUS " With Orbbec SDK = NO (OrbbecSDK v2 not found)")
ENDIF()
MESSAGE(STATUS "")
MESSAGE(STATUS " Odometry Approaches:")
IF(loam_velodyne_FOUND)