Update SDK to v1.10.8

Author: jian-dong

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

@@ -77,6 +77,11 @@ typedef struct DevicePresetListImpl    ob_device_preset_list;
 #define OB_FORMAT_ANY OB_FORMAT_UNKNOWN
 #define OB_PROFILE_DEFAULT 0
 
+#define OB_ACCEL_FULL_SCALE_RANGE_ANY OB_ACCEL_FS_UNKNOWN
+#define OB_ACCEL_SAMPLE_RATE_ANY OB_SAMPLE_RATE_UNKNOWN
+#define OB_GYRO_FULL_SCALE_RANGE_ANY OB_GYRO_FS_UNKNOWN
+#define OB_GYRO_SAMPLE_RATE_ANY OB_SAMPLE_RATE_UNKNOWN
+
 /**
  * @brief send data or receive data return status type
  */
@@ -458,7 +463,7 @@ typedef struct {
     OBCameraIntrinsic  rgbIntrinsic;     ///< Color camera internal parameters
     OBCameraDistortion depthDistortion;  ///< Depth camera distortion parameters
     OBCameraDistortion rgbDistortion;    ///< Color camera distortion parameters
-    OBD2CTransform     transform;        ///< Rotation/transformation matrix
+    OBD2CTransform     transform;        ///< Rotation/transformation matrix (from depth to color)
     bool               isMirrored;       ///< Whether the image frame corresponding to this group of parameters is mirrored
 } OBCameraParam, ob_camera_param;
 
@@ -576,6 +581,7 @@ typedef enum {
  * @brief Enumeration of IMU sample rate values (gyroscope or accelerometer)
  */
 typedef enum {
+    OB_SAMPLE_RATE_UNKNOWN   = 0, /**< Unknown sample rate */
     OB_SAMPLE_RATE_1_5625_HZ = 1, /**< 1.5625Hz */
     OB_SAMPLE_RATE_3_125_HZ,      /**< 3.125Hz */
     OB_SAMPLE_RATE_6_25_HZ,       /**< 6.25Hz */
@@ -598,25 +604,27 @@ typedef enum {
  * @brief Enumeration of gyroscope ranges
  */
 typedef enum {
-    OB_GYRO_FS_16dps = 1, /**< 16 degrees per second */
-    OB_GYRO_FS_31dps,     /**< 31 degrees per second */
-    OB_GYRO_FS_62dps,     /**< 62 degrees per second */
-    OB_GYRO_FS_125dps,    /**< 125 degrees per second */
-    OB_GYRO_FS_250dps,    /**< 250 degrees per second */
-    OB_GYRO_FS_500dps,    /**< 500 degrees per second */
-    OB_GYRO_FS_1000dps,   /**< 1000 degrees per second */
-    OB_GYRO_FS_2000dps,   /**< 2000 degrees per second */
+    OB_GYRO_FS_UNKNOWN = 0, /**< Unknown range */
+    OB_GYRO_FS_16dps   = 1, /**< 16 degrees per second */
+    OB_GYRO_FS_31dps,       /**< 31 degrees per second */
+    OB_GYRO_FS_62dps,       /**< 62 degrees per second */
+    OB_GYRO_FS_125dps,      /**< 125 degrees per second */
+    OB_GYRO_FS_250dps,      /**< 250 degrees per second */
+    OB_GYRO_FS_500dps,      /**< 500 degrees per second */
+    OB_GYRO_FS_1000dps,     /**< 1000 degrees per second */
+    OB_GYRO_FS_2000dps,     /**< 2000 degrees per second */
 } OBGyroFullScaleRange,
     ob_gyro_full_scale_range, OB_GYRO_FULL_SCALE_RANGE;
 
 /**
  * @brief Enumeration of accelerometer ranges
  */
 typedef enum {
-    OB_ACCEL_FS_2g = 1, /**< 1x the acceleration of gravity */
-    OB_ACCEL_FS_4g,     /**< 4x the acceleration of gravity */
-    OB_ACCEL_FS_8g,     /**< 8x the acceleration of gravity */
-    OB_ACCEL_FS_16g,    /**< 16x the acceleration of gravity */
+    OB_ACCEL_FS_UNKNOWN = 0, /**< Unknown range */
+    OB_ACCEL_FS_2g      = 1, /**< 1x the acceleration of gravity */
+    OB_ACCEL_FS_4g,          /**< 4x the acceleration of gravity */
+    OB_ACCEL_FS_8g,          /**< 8x the acceleration of gravity */
+    OB_ACCEL_FS_16g,         /**< 16x the acceleration of gravity */
 } OBAccelFullScaleRange,
     ob_accel_full_scale_range, OB_ACCEL_FULL_SCALE_RANGE;
 
@@ -995,7 +1003,6 @@ typedef struct {
     uint16_t              disp_diff;
     OBDDONoiseRemovalType type;
 } OBNoiseRemovalFilterParams, ob_noise_removal_filter_params;
-;
 
 /**
  * @brief Control command protocol version number

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

@@ -263,6 +263,51 @@ 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);
 
+/**
+ * @brief Enable a video stream to be used in the configuration.
+ *
+ * This function configures and enables a video stream with specific parameters.
+ * Users must specify all parameters explicitly as C does not support default arguments.
+ * Refer to the product manual for details on supported resolutions and formats for different camera models.
+ *
+ * @param config Pointer to the configuration structure.
+ * @param type The video stream type.
+ * @param width The video stream width.
+ * @param height The video stream height.
+ * @param fps The video stream frame rate.
+ * @param format The video stream format.
+ * @param error Pointer to store the error if operation fails.
+ */
+void ob_config_enable_video_stream(ob_config *config, ob_stream_type type, int width, int height, int fps, ob_format format, ob_error **error);
+
+/**
+ * @brief Enable an accelerometer stream to be used in the configuration.
+ *
+ * This function configures and enables an accelerometer stream with specific parameters.
+ * Users must specify all parameters explicitly. For details on available full-scale ranges and sample rates,
+ * please refer to the product manual.
+ *
+ * @param config Pointer to the configuration structure.
+ * @param fullScaleRange The full-scale range of the accelerometer.
+ * @param sampleRate The sample rate of the accelerometer.
+ * @param error Pointer to store the error if operation fails.
+ */
+void ob_config_enable_accel_stream(ob_config *config, ob_accel_full_scale_range full_scale_range, ob_accel_sample_rate sample_rate, ob_error **error);
+
+/**
+ * @brief Enable a gyroscope stream to be used in the configuration.
+ *
+ * This function configures and enables a gyroscope stream with specific parameters.
+ * Users must specify all parameters explicitly. For details on available full-scale ranges and sample rates,
+ * please refer to the product manual.
+ *
+ * @param config Pointer to the configuration structure.
+ * @param fullScaleRange The full-scale range of the gyroscope.
+ * @param sampleRate The sample rate of the gyroscope.
+ * @param error Pointer to store the error if operation fails.
+ */
+void ob_config_enable_gyro_stream(ob_config *config, ob_gyro_full_scale_range full_scale_range, ob_gyro_sample_rate sample_rate, ob_error **error);
+
 /**
  * @deprecated Use @ref ob_config_enable_stream instead
  * @brief Enable all streams in the pipeline configuration

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

@@ -413,6 +413,26 @@ typedef enum {
      */
     OB_PROP_IR_BRIGHTNESS_INT = 184,
 
+    /**
+     * @brief slave device sync status
+    */
+    OB_PROP_SLAVE_DEVICE_SYNC_STATUS_BOOL = 188, 
+
+        /**
+     * @brief Color AE max exposure
+    */
+    OB_PROP_COLOR_AE_MAX_EXPOSURE_INT     = 189, 
+
+    /**
+     * @brief IR AE max exposure
+    */
+    OB_PROP_IR_AE_MAX_EXPOSURE_INT        = 190,
+
+    /**
+     * @brief disparity search range mode
+    */
+    OB_PROP_DISP_SEARCH_RANGE_MODE_INT    = 191, 
+
     /**
      * @brief Baseline calibration parameters
      */

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

@@ -558,6 +558,13 @@ class OB_EXTENSION_API Device {
      */
     const char *getCurrentPresetName();
 
+    /**
+     * @brief Get current depth mode name
+     * @brief According the current preset name to return current depth mode name 
+     * @return const char* return the current depth mode name.
+     */
+    const char *getCurrentDepthModeName();
+
     /**
      * @brief load the preset according to the preset name.
      * @attention After loading the preset, the settings in the preset will set to the device immediately. Therefore, it is recommended to re-read the device

orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp

@@ -63,6 +63,11 @@ class OB_EXTENSION_API Pipeline {
      */
     void start(std::shared_ptr<Config> config);
 
+    /**
+     * @brief Start the pipeline with default configuration parameters
+     */
+    void start();
+
     /**
      * @brief Start the pipeline and set the frameset data callback
      *
@@ -76,6 +81,10 @@ class OB_EXTENSION_API Pipeline {
      */
     void stop();
 
+    /**
+     * @brief get Enabled Stream Profile List,It must be called after the pipeline is started, otherwise it will return an empty list
+     */
+    std::shared_ptr<StreamProfileList> getEnabledStreamProfileList();
     /**
      * @brief Get the pipeline configuration parameters
      * @brief Returns the default configuration if the user has not configured it
@@ -90,7 +99,7 @@ class OB_EXTENSION_API Pipeline {
      * @param timeout_ms The waiting timeout in milliseconds
      * @return std::shared_ptr<FrameSet> The waiting frameset data
      */
-    std::shared_ptr<FrameSet> waitForFrames(uint32_t timeout_ms);
+    std::shared_ptr<FrameSet> waitForFrames(uint32_t timeout_ms = 1000);
 
     /**
      * @brief Get the device object
@@ -226,6 +235,46 @@ class OB_EXTENSION_API Config {
      */
     void enableAllStream();
 
+    /**
+     * @brief Enable a video stream to be used in the pipeline.
+     *
+     * This function allows users to enable a video stream with customizable parameters.
+     * If no parameters are specified, the stream will be enabled with default resolution settings.
+     * Users who wish to set custom resolutions should refer to the product manual, as available resolutions vary by camera model.
+     *
+     * @param type The video stream type.
+     * @param width The video stream width (default is OB_WIDTH_ANY, which selects the default resolution).
+     * @param height The video stream height (default is OB_HEIGHT_ANY, which selects the default resolution).
+     * @param fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
+     * @param format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
+     */
+    void enableVideoStream(ob_stream_type type, int width = OB_WIDTH_ANY, int height = OB_HEIGHT_ANY, int fps = OB_FPS_ANY, OBFormat format = OB_FORMAT_ANY);
+
+    /**
+     * @brief Enable an accelerometer stream to be used in the pipeline.
+     *
+     * This function allows users to enable an accelerometer stream with customizable parameters.
+     * If no parameters are specified, the stream will be enabled with default settings.
+     * Users who wish to set custom full-scale ranges or sample rates should refer to the product manual, as available settings vary by device model.
+     *
+     * @param fullScaleRange The full-scale range of the accelerometer (default is OB_ACCEL_FULL_SCALE_RANGE_ANY, which selects the default range).
+     * @param sampleRate The sample rate of the accelerometer (default is OB_ACCEL_SAMPLE_RATE_ANY, which selects the default rate).
+     */
+    void enableAccelStream(ob_accel_full_scale_range fullScaleRange = OB_ACCEL_FULL_SCALE_RANGE_ANY,
+                           ob_accel_sample_rate      sampleRate     = OB_ACCEL_SAMPLE_RATE_ANY);
+
+    /**
+     * @brief Enable a gyroscope stream to be used in the pipeline.
+     *
+     * This function allows users to enable a gyroscope stream with customizable parameters.
+     * If no parameters are specified, the stream will be enabled with default settings.
+     * Users who wish to set custom full-scale ranges or sample rates should refer to the product manual, as available settings vary by device model.
+     *
+     * @param fullScaleRange The full-scale range of the gyroscope (default is OB_GYRO_FULL_SCALE_RANGE_ANY, which selects the default range).
+     * @param sampleRate The sample rate of the gyroscope (default is OB_GYRO_SAMPLE_RATE_ANY, which selects the default rate).
+     */
+    void enableGyroStream(ob_gyro_full_scale_range fullScaleRange = OB_GYRO_FULL_SCALE_RANGE_ANY, ob_gyro_sample_rate sampleRate = OB_GYRO_SAMPLE_RATE_ANY);
+
     /**
      * @brief Disable a stream to be used in the pipeline
      *

orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10

@@ -1 +1 @@
-libOrbbecSDK.so.1.10.7
+libOrbbecSDK.so.1.10.8

orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.7 renamed to orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10.8

@@ -1 +1 @@
-libOrbbecSDK.so.1.10.7
+libOrbbecSDK.so.1.10.8

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10

@@ -1 +1 @@
-libOrbbecSDK.so.1.10.7
+libOrbbecSDK.so.1.10.8