Merge pull request #22 from orbbec/v1.3.x

release v1.3.0

Author: jian-dong

99-obsensor-libusb.rules

@@ -86,17 +86,12 @@ SUBSYSTEM=="usb", ATTR{idProduct}=="065e", ATTR{idVendor}=="2bc5", MODE:="0666",
 SUBSYSTEM=="usb", ATTR{idProduct}=="0698", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="j1"
 SUBSYSTEM=="usb", ATTR{idProduct}=="069c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="TB2201"
 SUBSYSTEM=="usb", ATTR{idProduct}=="06a0", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dcw2"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0561", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dcw2_rgb"
 SUBSYSTEM=="usb", ATTR{idProduct}=="069f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dw2"
-
-
-
-
-
-
-
-
-
-
-
-
-
+SUBSYSTEM=="usb", ATTR{idProduct}=="069e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_max_pro"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0560", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_max_pro_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="06aa", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_gemini_uw"
+SUBSYSTEM=="usb", ATTR{idProduct}=="05aa", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_gemini_uw_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="06a6", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_ew"
+SUBSYSTEM=="usb", ATTR{idProduct}=="05a6", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_ew_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="06a7", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_ew_lite"

CMakeLists.txt

@@ -20,6 +20,9 @@ endif ()
 if (WIN32)
   set(ORBBEC_LIB_PREFIX "")
   set(ORBBEC_LIB_SUFFIX ".lib")
+elseif(APPLE)
+  set(ORBBEC_LIB_PREFIX "lib")
+  set(ORBBEC_LIB_SUFFIX ".dylib")
 elseif (UNIX)
   set(ORBBEC_LIB_PREFIX "lib")
   set(ORBBEC_LIB_SUFFIX ".so")
@@ -33,7 +36,7 @@ find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 find_package(pybind11 REQUIRED)
 link_directories(${ORBBEC_LIBS})
 
-pybind11_add_module(${PROJECT_NAME} SHARED
+pybind11_add_module(${PROJECT_NAME}
   src/pyorbbecsdk/pyorbbecsdk.cpp
   src/pyorbbecsdk/context.cpp
   src/pyorbbecsdk/device.cpp
@@ -91,8 +94,12 @@ endif ()
 install(TARGETS ${PROJECT_NAME}
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
-
-if (UNIX)
+if(APPLE)
+  install(DIRECTORY ${ORBBEC_LIBS}/
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+    FILES_MATCHING PATTERN "*.dylib"
+    )
+elseif (UNIX)
   install(DIRECTORY ${ORBBEC_LIBS}/
     DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
     FILES_MATCHING PATTERN "*.so"

cmake/DetermineHostPlatform.cmake

@@ -1,7 +1,11 @@
 set(HOST_PLATFORM "linux_x64")
-if (UNIX)
-  execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES)
-  execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT)
+
+if(APPLE)
+  set(HOST_PLATFORM "macos")
+elseif (UNIX)
+  execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES OUTPUT_STRIP_TRAILING_WHITESPACE)
+  execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT OUTPUT_STRIP_TRAILING_WHITESPACE)
+
   if ((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64"))
     set(HOST_PLATFORM "linux_x64")
   elseif (${MACHINES} MATCHES "arm")
@@ -18,3 +22,4 @@ elseif (WIN32)
     set(HOST_PLATFORM "win_x86")
   endif ()
 endif ()
+message(STATUS "Host platform set to: ${HOST_PLATFORM}")

config/OrbbecSDKConfig_v1.0.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>pyorbbecsdk</name>
-  <version>1.2.9</version>
+  <version>1.3.0</version>
   <description>
    pyorbbecsdk is a python wrapper for the orbbec sdk
   </description>

package.xml

@@ -97,7 +97,7 @@ const char *ob_device_list_get_device_ip_address(ob_device_list *list, uint32_t
 /**
  * @brief Get the device extension information.
  *
- * @param[in] info Device Information
+ * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Log error messages
  * @return const char* The device extension information
@@ -865,6 +865,30 @@ void ob_delete_depth_work_mode_list(ob_depth_work_mode_list *work_mode_list, ob_
  */
 void ob_delete_data_bundle(ob_data_bundle *data_bundle, ob_error **error);
 
+/**
+ * @brief Check if the device supports global timestamp.
+ *
+ * @param[in] device The device object.
+ * @param[out] error Log error messages.
+ * @return bool Whether the device supports global timestamp.
+ */
+bool ob_device_is_global_timestamp_supported(ob_device *device, ob_error **error);
+
+/**
+ * @brief Load depth filter config from file.
+ * @param[in] device The device object.
+ * @param[in] file_path Path of the config file.
+ * @param[out] error Log error messages.
+ */
+void ob_device_load_depth_filter_config(ob_device *device, const char *file_path, ob_error **error);
+
+/**
+ * @brief Reset depth filter config to device default define.
+ * @param[in] device The device object.
+ * @param[out] error Log error messages.
+ */
+void ob_device_reset_default_depth_filter_config(ob_device *device, ob_error **error);
+
 #ifdef __cplusplus
 }
 #endif

sdk/include/libobsensor/h/Device.h

@@ -68,6 +68,20 @@ uint64_t ob_frame_time_stamp_us(ob_frame *frame, ob_error **error);
  */
 uint64_t ob_frame_system_time_stamp(ob_frame *frame, ob_error **error);
 
+/**
+ * @brief Get the global timestamp of the frame in microseconds.
+ * @brief The global timestamp is the time point when the frame was was captured by the device, and has been converted to the host clock domain. The
+ * conversion process base on the device timestamp and can eliminate the timer drift of the device
+ *
+ * @attention Only some devices support getting the global timestamp. If the device does not support it, this function will return 0. Check the device support
+ * status by @ref ob_device_is_global_timestamp_supported() function.
+ *
+ * @param[in] frame Frame object
+ * @param[out] error Log error messages
+ * @return uint64_t The global timestamp of the frame in microseconds.
+ */
+uint64_t ob_frame_global_time_stamp_us(ob_frame *frame, ob_error **error);
+
 /**
  * @brief Get frame data
  *

sdk/include/libobsensor/h/Frame.h

@@ -161,6 +161,7 @@ typedef enum {
     OB_SENSOR_IR_LEFT   = 6, /**< left IR */
     OB_SENSOR_IR_RIGHT  = 7, /**< Right IR */
     OB_SENSOR_RAW_PHASE = 8, /**< Raw Phase */
+    OB_SENSOR_COUNT,
 } OBSensorType,
     ob_sensor_type;
 
@@ -367,7 +368,7 @@ typedef struct {
 typedef struct {
     float rot[9];    ///< Rotation matrix
     float trans[3];  ///< Transformation matrix
-} OBD2CTransform, ob_d2c_transform;
+} OBD2CTransform, ob_d2c_transform, OBTransform, ob_transform;
 
 /**
  * @brief Structure for camera parameters
@@ -380,6 +381,7 @@ typedef struct {
     OBD2CTransform     transform;        ///< Rotation/transformation matrix
     bool               isMirrored;       ///< Whether the image frame corresponding to this group of parameters is mirrored
 } OBCameraParam, ob_camera_param;
+
 /**
  * @brief Camera parameters
  */
@@ -392,6 +394,16 @@ typedef struct {
     OBD2CTransform     transform;      ///< Rotation/transformation matrix
 } OBCameraParam_V0, ob_camera_param_v0;
 
+/**
+ * @brief calibration parameters
+ */
+typedef struct {
+    OBCameraIntrinsic  intrinsics[OB_SENSOR_COUNT];            ///< Sensor internal parameters
+    OBCameraDistortion distortion[OB_SENSOR_COUNT];            ///< Sensor distortion
+    OBTransform extrinsics[OB_SENSOR_COUNT][OB_SENSOR_COUNT];  ///< The extrinsic parameters allow 3D coordinate conversions between sensor.To transform from a
+                                                               ///< source to a target 3D coordinate system,under extrinsics[source][target].
+} OBCalibrationParam, ob_calibration_param;
+
 /**
  * @brief Configuration for depth margin filter
  */
@@ -405,6 +417,21 @@ typedef struct {
     bool     enable_direction;  ///< Set to true for horizontal and vertical, false for horizontal only
 } ob_margin_filter_config, OBMarginFilterConfig;
 
+/**
+ * @brief Configuration for mgc filter
+ */
+typedef struct {
+    uint32_t width;
+    uint32_t height;
+    int      max_width_left;
+    int      max_width_right;
+    int      max_radius;
+    int      margin_x_th;
+    int      margin_y_th;
+    int      limit_x_th;
+    int      limit_y_th;
+} OBMGCFilterConfig, ob_mgc_filter_config;
+
 /**
  * @brief Alignment mode
  */
@@ -441,6 +468,7 @@ typedef enum {
     FORMAT_MJPG_TO_BGRA,       /**< MJPG to BGRA */
     FORMAT_UYVY_TO_RGB888,     /**< UYVY to RGB888 */
     FORMAT_BGR_TO_RGB,         /**< BGR to RGB */
+    FORMAT_MJPG_TO_NV12,       /**< MJPG to NV12 */
 } OBConvertFormat,
     ob_convert_format;
 
@@ -617,7 +645,22 @@ typedef struct {
     float x;  ///< X coordinate
     float y;  ///< Y coordinate
     float z;  ///< Z coordinate
-} OBPoint, ob_point;
+} OBPoint, ob_point, OBPoint3f, ob_point3f;
+
+/**
+ * @brief 2D point structure in the SDK
+ */
+typedef struct {
+    float x;  ///< X coordinate
+    float y;  ///< Y coordinate
+} OBPoint2f, ob_point2f;
+
+typedef struct {
+    float *xTable;  ///< table used to compute X coordinate
+    float *yTable;  ///< table used to compute Y coordinate
+    int    width;   ///< width of x and y tables
+    int    height;  ///< height of x and y tables
+} OBXYTables, ob_xy_tables;
 
 /**
  * @brief 3D point structure with color information

sdk/include/libobsensor/h/ObTypes.h

@@ -169,7 +169,6 @@ ob_camera_param ob_pipeline_get_camera_param_with_profile(ob_pipeline *pipeline,
                                                           uint32_t depthHeight, ob_error **error);
 
 /**
- * \if English
  * @brief Get current camera parameters
  * @attention If D2C is enabled, it will return the camera parameters after D2C, if not, it will return to the default parameters
  *
@@ -179,6 +178,15 @@ ob_camera_param ob_pipeline_get_camera_param_with_profile(ob_pipeline *pipeline,
  */
 ob_camera_param ob_pipeline_get_camera_param(ob_pipeline *pipeline, ob_error **error);
 
+/**
+ * @brief Get device calibration parameters
+ *
+ * @param[in] pipeline pipeline object
+ * @param[out] error Log error messages
+ * @return ob_calibration_param The calibration parameters
+ */
+ob_calibration_param ob_pipeline_get_calibration_param(ob_pipeline *pipeline, ob_config *config, ob_error **error);
+
 /**
  * @brief Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution
  *
@@ -314,7 +322,7 @@ void ob_config_set_d2c_target_resolution(ob_config *config, uint32_t d2c_target_
  * can be caused by different frame rates of each stream, or by the loss of frames of one stream): drop directly or output to the user.
  *
  * @param[in] config The pipeline configuration
- * @param[in] mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
+ * @param[in] mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE)
  * @param[out] error Log error messages
  */
 void ob_config_set_frame_aggregate_output_mode(ob_config *config, ob_frame_aggregate_output_mode mode, ob_error **error);

sdk/include/libobsensor/h/Pipeline.h

@@ -582,6 +582,16 @@ typedef enum {
      */
     OB_PROP_COLOR_HDR_BOOL = 2034,
 
+    /**
+     * @brief IR long exposure mode switch read and write.
+     */
+    OB_PROP_IR_LONG_EXPOSURE_BOOL = 2035,
+
+    /**
+     * @brief Setting and getting the USB device frame skipping mode status, true: frame skipping mode, false: non-frame skipping mode.
+     */
+    OB_PROP_SKIP_FRAME_BOOL = 2036,
+
     /**
      * @brief Software disparity to depth
      */