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

* 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
2026-10-08 19:17:45 +08:00 · 2025-10-07 10:22:16 -07:00
parent 5aec9bacec
commit f0dab18005
22 changed files with 3078 additions and 1816 deletions
@@ -38,3 +38,4 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraRGBDImages.h>
 #include <rtabmap/core/camera/CameraK4A.h>
 #include <rtabmap/core/camera/CameraSeerSense.h>
+#include <rtabmap/core/camera/CameraOrbbecSDK.h>
@@ -0,0 +1,105 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#pragma once
+
+#include "rtabmap/core/CameraModel.h"
+#include "rtabmap/core/Camera.h"
+#include "rtabmap/core/Version.h"
+
+#ifdef RTABMAP_ORBBEC_SDK
+namespace ob
+{
+    class Pipeline;
+    class Align;
+}
+#endif
+
+namespace rtabmap
+{
+
+class RTABMAP_CORE_EXPORT CameraOrbbecSDK :
+    public Camera
+{
+public:
+    static bool available();
+
+public:
+    // deviceId can be either an index (e.g., "0"), an UID (e.g, "2-1-2" or "gmsl-1") or a serial ("AAA6454S")
+    CameraOrbbecSDK(
+        std::string deviceId = "",
+        int colorWidth = 800,
+        int colorHeight = 600,
+        int depthWidth = 800,
+        int depthHeight = 600,
+        float imageRate = 0.0f,
+        const Transform & localTransform = Transform::getIdentity());
+    virtual ~CameraOrbbecSDK();
+
+    virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+    virtual bool isCalibrated() const;
+    virtual std::string getSerial() const;
+
+    void close();
+
+    // Should be set before initializing
+    void enableColorRectification(bool enabled);
+    void enableImu(bool enabled);
+
+    void enableDepthMM(bool enabled);
+
+protected:
+    virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
+private:
+
+#ifdef RTABMAP_ORBBEC_SDK
+    std::string deviceId_;
+    int colorWidth_;
+    int colorHeight_;
+    int depthWidth_;
+    int depthHeight_;
+    ob::Pipeline * pipeline_;
+    ob::Pipeline * imuPipeline_;
+    ob::Align * alignFilter_;
+    CameraModel model_;
+    Transform imuLocalTransform_;
+    bool imuLocalTransformInitialized_;
+    uint64_t lastAccStamp_;
+    uint64_t lastImageStamp_;
+    bool globalTimestampAvailable_;
+    bool rectifyColor_;
+    bool convertDepthToMM_;
+    bool imuPublished_;
+    std::map<double, cv::Vec6f> imuBuffer_;
+    UMutex imuMutex_;
+#endif
+
+};
+
+
+} // namespace rtabmap