Update SDK sdk to v1.10.16

Author: jian-dong

sdk/include/libobsensor/h/Context.h

@@ -157,6 +157,25 @@ void ob_load_license(const char *filePath, const char *key, ob_error **error);
  */
 void ob_load_license_from_data(const char *data, uint32_t dataLen, const char *key, ob_error **error);
 
+/**
+ * @brief Set the UVC backend for the specified context
+ * This function configures the Universal Video Class (UVC) backend for the given context, allowing the selection of a specific backend for
+ * video capture operations.
+ *
+ * @attention This function is only supported on Linux (ARM) platforms.
+ * Some devices, like the Dabai series, do not support V4L2. Therefore, the default backend is LIBUVC. Ensure that the device
+ * supports V4L2 before setting it as the backend.
+ *
+ * @param[in] context Pointer to the context object
+ * @param[in] uvc_backend Specifies the UVC backend to use:
+ *                       - `UVC_BACKEND_AUTO`: Automatically selects between
+ *                         V4L2 or libuvc based on metadata support.
+ *                       - `UVC_BACKEND_LIBUVC`: Forces the use of libuvc.
+ *                       - `UVC_BACKEND_V4L2`: Forces the use of V4L2.
+ * @param[out] error Pointer to an error object that will be populated if an error occurs.
+ */
+void ob_set_uvc_backend(ob_context *context, ob_uvc_backend uvc_backend, ob_error **error);
+
 #ifdef __cplusplus
 }
 #endif

sdk/include/libobsensor/h/Filter.h

@@ -248,12 +248,93 @@ ob_spatial_advanced_filter_params ob_spatial_advanced_filter_get_filter_params(o
 /**
  * @brief Set the spatial advanced filter params.
  *
- * @param[in] filter A temporal_filter object.
+ * @param[in] filter A spatial advanced filter object.
  * @param[in] params ob_spatial_advanced_filter_params.
  * @param[out] error Log error messages.
  */
 void ob_spatial_advanced_filter_set_filter_params(ob_filter *filter, ob_spatial_advanced_filter_params params, ob_error **error);
 
+/**
+ * @brief Create a spatial fast filter.
+ * @param[out] error Log error messages.
+ * @return A depth_filter object.
+ */
+ob_filter *ob_create_spatial_fast_filter(ob_error **error);
+
+/**
+ * @brief Get the spatial fast filter window size range.
+ *
+ * @param[in] filter A spatial fast filter object.
+ * @param[out] error Log error messages.
+ * @return ob_uint8_property_range the filter window size value of property range.
+ */
+ob_uint8_property_range ob_spatial_fast_filter_get_size_range(ob_filter *filter, ob_error **error);
+
+/**
+ * @brief Set the spatial fast filter params.
+ *
+ * @param[in] filter A spatial fast filter object.
+ * @param[in] params ob_spatial_fast_filter_params.
+ * @param[out] error Log error messages.
+ */
+void ob_spatial_fast_filter_set_filter_params(ob_filter *filter, ob_spatial_fast_filter_params params, ob_error **error);
+
+/**
+ * @brief Get the spatial fast filter params.
+ *
+ * @param[in] filter A spatial fast filter object.
+ * @param[out] error Log error messages.
+ * @return ob_spatial_fast_filter_params.
+ */
+ob_spatial_fast_filter_params ob_spatial_fast_filter_get_filter_params(ob_filter *filter, ob_error **error);
+
+/**
+ * @brief Create a spatial moderate filter.
+ * @param[out] error Log error messages.
+ * @return A depth_filter object.
+ */
+ob_filter *ob_create_spatial_moderate_filter(ob_error **error);
+/**
+ * @brief Get the spatial moderate filter disp diff range.
+ *
+ * @param[in] filter A spatial moderate filter object.
+ * @param[out] error Log error messages.
+ * @return ob_uint16_property_range the dispdiff value of property range.
+ */
+ob_uint16_property_range ob_spatial_moderate_filter_get_disp_diff_range(ob_filter *filter, ob_error **error);
+/**
+ * @brief Get the spatial moderate filter magnitude range.
+ *
+ * @param[in] filter A spatial moderate filter object.
+ * @param[out] error Log error messages.
+ * @return ob_uint8_property_range the magnitude value of property range.
+ */
+ob_uint8_property_range ob_spatial_moderate_filter_get_magnitude_range(ob_filter *filter, ob_error **error);
+/**
+ * @brief Get the spatial moderate filter window size range.
+ *
+ * @param[in] filter A spatial moderate filter object.
+ * @param[out] error Log error messages.
+ * @return ob_uint8_property_range the filter window size value of property range.
+ */
+ob_uint8_property_range ob_spatial_moderate_filter_get_size_range(ob_filter *filter, ob_error **error);
+/**
+ * @brief Get the spatial moderate filter params.
+ *
+ * @param[in] filter A spatial moderate filter object.
+ * @param[out] error Log error messages.
+ * @return ob_spatial_moderate_filter_params.
+ */
+ob_spatial_moderate_filter_params ob_spatial_moderate_filter_get_filter_params(ob_filter *filter, ob_error **error);
+/**
+ * @brief Set the spatial moderate filter params.
+ *
+ * @param[in] filter A spatial moderate filter object.
+ * @param[in] params ob_spatial_moderate_filter_params.
+ * @param[out] error Log error messages.
+ */
+void ob_spatial_moderate_filter_set_filter_params(ob_filter *filter, ob_spatial_moderate_filter_params params, ob_error **error);
+
 /**
  * @brief Create a noise removal filter.
  * @param[out] error Log error messages.

sdk/include/libobsensor/h/ObTypes.h

@@ -206,6 +206,7 @@ typedef enum {
     OB_FRAME_IR_LEFT   = 8,  /**< Left IR frame */
     OB_FRAME_IR_RIGHT  = 9,  /**< Right IR frame */
     OB_FRAME_RAW_PHASE = 10, /**< Rawphase frame*/
+    OB_FRAME_TYPE_COUNT,     /**< The total number of frame types, is not a valid frame type */
 } OBFrameType,
     ob_frame_type;
 
@@ -973,6 +974,18 @@ typedef struct {
     uint16_t radius;     // hole_fill
 } OBSpatialAdvancedFilterParams, ob_spatial_advanced_filter_params;
 
+
+typedef struct {
+    uint8_t  size;  //median filter window size
+} OBSpatialFastFilterParams, ob_spatial_fast_filter_params;
+
+
+typedef struct  {
+    uint8_t  size ;
+    uint8_t  magnitude ; // magnitude
+    uint16_t disp_diff ;
+} OBSpatialModerateFilterParams, ob_spatial_moderate_filter_params;
+
 typedef enum OB_EDGE_NOISE_REMOVAL_TYPE {
     OB_MG_FILTER  = 0,
     OB_MGH_FILTER = 1,  // horizontal MG
@@ -1440,13 +1453,19 @@ typedef struct {
     int16_t y1_bottom;
 } AE_ROI, ob_region_of_interest, OBRegionOfInterest;
 
+typedef struct {
+    uint8_t enable;
+    uint8_t offset0;
+    uint8_t offset1;
+    uint8_t reserved;
+} DISP_OFFSET_CONFIG, ob_disp_offset_config, OBDispOffsetConfig;
 
-typedef struct{
-  uint8_t enable;
-  uint8_t offset0;
-  uint8_t offset1;
-  uint8_t reserved;
-}DISP_OFFSET_CONFIG,ob_disp_offset_config,OBDispOffsetConfig;
+typedef enum {
+    UVC_BACKEND_AUTO   = 0,
+    UVC_BACKEND_LIBUVC = 1,
+    UVC_BACKEND_V4L2   = 2,
+} UVC_BACKEND,
+    ob_uvc_backend, OBUvcBackend;
 
 /**
  * @brief Frame metadata types

sdk/include/libobsensor/hpp/Context.hpp

@@ -143,5 +143,22 @@ class OB_EXTENSION_API Context {
      * @param key The decryption key.
      */
     static void loadLicenseFromData(const char *data, uint32_t dataLen, const char *key = OB_DEFAULT_DECRYPT_KEY);
+
+    /**
+     * @brief Set the UVC backend for the specified context
+     * This function configures the Universal Video Class (UVC) backend for the given context, allowing the selection of a specific backend for
+     * video capture operations.
+     *
+     * @attention This function is only supported on Linux (ARM) platforms.
+     * Some devices, like the Dabai series, do not support V4L2. Therefore, the default backend is LIBUVC. Ensure that the device
+     * supports V4L2 before setting it as the backend.
+     *
+     * @param[in] uvcBackend Specifies the UVC backend to use:
+     *                       - `UVC_BACKEND_AUTO`: Automatically selects between
+     *                         V4L2 or libuvc based on metadata support.
+     *                       - `UVC_BACKEND_LIBUVC`: Forces the use of libuvc.
+     *                       - `UVC_BACKEND_V4L2`: Forces the use of V4L2.
+     */
+    void setUVCBackend(OBUvcBackend uvcBackend);
 };
 }  // namespace ob

sdk/include/libobsensor/hpp/Filter.hpp

@@ -258,7 +258,7 @@ class OB_EXTENSION_API TemporalFilter : public Filter {
 };
 
 /**
- * @brief Spatial advanced filte smooths the image by calculating frame with alpha and delta settings
+ * @brief Spatial advanced filter smooths the image by calculating frame with alpha and delta settings
  * alpha defines the weight of the current pixel for smoothing,
  * delta defines the depth gradient below which the smoothing will occur as number of depth levels.
  */
@@ -276,21 +276,21 @@ class OB_EXTENSION_API SpatialAdvancedFilter : public Filter {
     /**
      * @brief Get the spatial advanced filter dispdiff range.
      *
-     * @return OBFloatPropertyRange the dispdiff value of property range.
+     * @return OBUint16PropertyRange the dispdiff value of property range.
      */
     OBUint16PropertyRange getDispDiffRange();
 
     /**
      * @brief Get the spatial advanced filter radius range.
      *
-     * @return OBFloatPropertyRange the radius value of property range.
+     * @return OBUint16PropertyRange the radius value of property range.
      */
     OBUint16PropertyRange getRadiusRange();
 
     /**
      * @brief Get the spatial advanced filter magnitude range.
      *
-     * @return OBFloatPropertyRange the magnitude value of property range.
+     * @return OBIntPropertyRange the magnitude value of property range.
      */
     OBIntPropertyRange getMagnitudeRange();
 
@@ -310,6 +310,73 @@ class OB_EXTENSION_API SpatialAdvancedFilter : public Filter {
 };
 
 /**
+ * @brief Spatial fast filter smooths the image by calculating frame with filter window size settings
+ */
+class OB_EXTENSION_API SpatialFastFilter : public Filter {
+public:
+    SpatialFastFilter();
+    /**
+     * @brief Get the spatial fast filter window size range
+     *
+     * @return OBUint8PropertyRange the windows size value of property range.
+     */
+    OBUint8PropertyRange getSizeRange();
+
+     /**
+     * @brief Get the spatial fast filter params.
+     *
+     * @return OBSpatialFastFilterParams
+     */
+    OBSpatialFastFilterParams getFilterParams();
+    /**
+     * @brief Set the spatial fast filter params.
+     *
+     * @param params OBSpatialFastFilterParams.
+     */
+    void setFilterParams(OBSpatialFastFilterParams params);
+};
+
+/**
+ * @brief Spatial moderate filter smooths the image by calculating frame with filter window size,magnitude and disp diff settings
+ */
+class OB_EXTENSION_API SpatialModerateFilter : public Filter {
+public:
+    SpatialModerateFilter();
+    /**
+     * @brief Get the spatial moderate filter window size range
+     *
+     * @return OBUint8PropertyRange the windows size value of property range.
+     */
+    OBUint8PropertyRange          getSizeRange();
+
+    /**
+     * @brief Get the spatial moderate filter magnitude range.
+     *
+     * @return OBUint8PropertyRange the magnitude value of property range.
+     */
+    OBUint8PropertyRange getMagnitudeRange();
+    /**
+     * @brief Get the spatial moderate filter dispdiff range.
+     *
+     * @return OBUint16PropertyRange the dispdiff value of property range.
+     */
+    OBUint16PropertyRange getDispDiffRange();
+
+     /**
+     * @brief Get the spatial moderate filter params.
+     *
+     * @return OBSpatialModerateFilterParams
+     */
+    OBSpatialModerateFilterParams getFilterParams();
+    /**
+     * @brief Set the spatial moderate filter params.
+     *
+     * @param params OBSpatialModerateFilterParams.
+     */
+    void setFilterParams(OBSpatialModerateFilterParams params);
+};
+
+    /**
  * @brief Depth to disparity or disparity to depth
  */
 class OB_EXTENSION_API DisparityTransform : public Filter {
@@ -542,6 +609,15 @@ template <typename T> bool Filter::is() {
     if(name == "SpatialAdvancedFilter") {
         return typeid(T) == typeid(SpatialAdvancedFilter);
     }
+
+    if(name == "SpatialFastFilter") {
+        return typeid(T) == typeid(SpatialFastFilter);
+    }
+
+    if(name == "SpatialModerateFilter") {
+        return typeid(T) == typeid(SpatialModerateFilter);
+    }
+
     if(name == "TemporalFilter") {
         return typeid(T) == typeid(TemporalFilter);
     }

sdk/lib/arm32/libOrbbecSDK.so.1.10

@@ -1 +1 @@
-libOrbbecSDK.so.1.10.12
+libOrbbecSDK.so.1.10.16

sdk/lib/arm32/libOrbbecSDK.so.1.10.12 sdk/lib/arm32/libOrbbecSDK.so.1.10.16sdk/lib/arm32/libOrbbecSDK.so.1.10.12 renamed to sdk/lib/arm32/libOrbbecSDK.so.1.10.16

@@ -1 +1 @@
-libOrbbecSDK.so.1.10.12
+libOrbbecSDK.so.1.10.16