Update orbbecsdk library to v1.9.3

orbbec · Jan 15, 2024 · 78535f2 · 78535f2
1 parent 1604874
commit 78535f2
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Showing 11 changed files with 134 additions and 27 deletions.
diff --git a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
@@ -398,7 +398,8 @@ typedef struct {
  * @brief calibration parameters
  */
 typedef struct {
-    OBCameraIntrinsic intrinsics[OB_SENSOR_COUNT];             ///< Sensor internal parameters
+    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;
@@ -418,18 +419,18 @@ typedef struct {
 
 /**
  * @brief Configuration for mgc filter
-*/
-typedef struct{
+ */
+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;
+    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
@@ -654,6 +655,13 @@ typedef struct {
     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
  */

diff --git a/orbbec_camera/SDK/include/libobsensor/h/Utils.h b/orbbec_camera/SDK/include/libobsensor/h/Utils.h
@@ -11,14 +11,14 @@ extern "C" {
  *
  * @param[in] calibration_param Device calibration param,see pipeline::getCalibrationParam
  * @param[in] source_point3f Source 3d point value
- * @param[in] source_sensor_Type Source sensor type
+ * @param[in] source_sensor_type Source sensor type
  * @param[in] target_sensor_type Target sensor type
  * @param[out] target_point3f Target 3d point value
  * @param[out] error Log error messages
  *
  * @return bool Transform result
  */
-bool ob_calibration_3d_to_3d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_Type,
+bool ob_calibration_3d_to_3d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type,
                              const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
 
 /**
@@ -28,14 +28,31 @@ bool ob_calibration_3d_to_3d(const ob_calibration_param calibration_param, const
  * @param[in] source_point2f Source 2d point value
  * @param[in] source_depth_pixel_value The depth of sourcePoint2f in millimeters
  * @param[in] source_sensor_type Source sensor type
- * @param[in] target_sensor_Type Target sensor type
+ * @param[in] target_sensor_type Target sensor type
  * @param[out] target_point3f Target 3d point value
  * @param[out] error Log error messages
  *
  * @return bool Transform result
  */
 bool ob_calibration_2d_to_3d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
-                             const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_Type, ob_point3f *target_point3f, ob_error **error);
+                             const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
+
+/**
+ * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
+ *
+ * @param[in] calibration_param Device calibration param,see pipeline::getCalibrationParam
+ * @param[in] source_point2f Source 2d point value
+ * @param[in] source_depth_pixel_value The depth of sourcePoint2f in millimeters
+ * @param[in] source_sensor_type Source sensor type
+ * @param[in] target_sensor_type Target sensor type
+ * @param[out] target_point3f Target 3d point value
+ * @param[out] error Log error messages
+ *
+ * @return bool Transform result
+ */
+bool ob_calibration_2d_to_3d_undistortion(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
+                                          const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f,
+                                          ob_error **error);
 
 /**
  * @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
@@ -82,6 +99,44 @@ bool ob_calibration_2d_to_2d(const ob_calibration_param calibration_param, const
 ob_frame *transformation_depth_frame_to_color_camera(ob_device *device, ob_frame *depth_frame, uint32_t target_color_camera_width,
                                                      uint32_t target_color_camera_height, ob_error **error);
 
+/**
+ * @brief Init transformation tables
+ *
+ * @param[in] calibration_param Device calibration param,see pipeline::getCalibrationParam
+ * @param[in] sensor_type sensor type
+ * @param[in] data input data,needs to be allocated externally.During initialization, the external allocation size is 'data_size', for example, data_size = 1920
+ * * 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
+ * @param[in] data_size input data size
+ * @param[out] xy_tables output xy tables
+ * @param[out] error Log error messages
+ *
+ * @return bool Transform result
+ */
+bool transformation_init_xy_tables(const ob_calibration_param calibration_param, const ob_sensor_type sensor_type, float *data, uint32_t *data_size,
+                                   ob_xy_tables *xy_tables, ob_error **error);
+
+/**
+ * @brief Transform depth image to point cloud data
+ *
+ * @param[in] xy_tables input xy tables,see transformation_init_xy_tables
+ * @param[in] depth_image_data input depth image data
+ * @param[out] pointcloud_data output point cloud data
+ * @param[out] error Log error messages
+ */
+void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error);
+
+/**
+ * @brief Transform depth image to point cloud data
+ *
+ * @param[in] xy_tables input xy tables,see transformation_init_xy_tables
+ * @param[in] depth_image_data input depth image data
+ * @param[in] color_image_data input color image data (only RGB888 support)
+ * @param[out] pointcloud_data output point cloud data
+ * @param[out] error Log error messages
+ */
+void transformation_depth_to_rgbd_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data,
+                                             ob_error **error);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp
@@ -267,7 +267,7 @@ class OB_EXTENSION_API Config {
      * @brief The processing strategy when the FrameSet generated by the frame aggregation function does not contain the frames of all opened streams (which
      * 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 mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE)
+     * @param mode The frame aggregation output mode to be set (default mode is @ref OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION)
      */
     void setFrameAggregateOutputMode(OBFrameAggregateOutputMode mode);
 

diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Utils.hpp
@@ -41,6 +41,22 @@ class OB_EXTENSION_API CoordinateTransformHelper {
     static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
                                   const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
 
+    /**
+     * @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
+     * @brief This function uses undistortion, which may result in longer processing time.
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sourcePoint2f Source 2d point value
+     * @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
+     * @param sourceSensorType Source sensor type
+     * @param targetSensorType Target sensor type
+     * @param targetPoint3f Target 3d point value
+     *
+     * @return bool Transform result
+     */
+    static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
+                                              const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
+
     /**
      * @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
      *
@@ -82,5 +98,41 @@ class OB_EXTENSION_API CoordinateTransformHelper {
      */
     static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
                                                                             uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);
+
+    /**
+     * @brief Init transformation tables
+     *
+     * @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
+     * @param sensorType sensor type
+     * @param data input data,needs to be allocated externally.During initialization, the external allocation size is 'dataSize', for example, dataSize = 1920 *
+     * 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
+     * @param dataSize input data size
+     * @param xyTables output xy tables
+     *
+     * @return bool Transform result
+     */
+    static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
+                                           OBXYTables *xyTables);
+
+    /**
+     * @brief Transform depth image to point cloud data
+     *
+     * @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
+     * @param depthImageData input depth image data
+     * @param pointCloudData output point cloud data
+     *
+     */
+    static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData);
+
+    /**
+     * @brief Transform depth image to RGBD point cloud data
+     *
+     * @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
+     * @param depthImageData input depth image data
+     * @param colorImageData input color image data (only RGB888 support)
+     * @param pointCloudData output RGBD point cloud data
+     *
+     */
+    static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData);
 };
 }  // namespace ob
diff --git a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.9
@@ -1 +1 @@
-libOrbbecSDK.so.1.9.1
+libOrbbecSDK.so.1.9.3
diff --git a/...amera/SDK/lib/arm32/libOrbbecSDK.so.1.9.1 → ...amera/SDK/lib/arm32/libOrbbecSDK.so.1.9.3 b/...amera/SDK/lib/arm32/libOrbbecSDK.so.1.9.1 → ...amera/SDK/lib/arm32/libOrbbecSDK.so.1.9.3
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.9
@@ -1 +1 @@
-libOrbbecSDK.so.1.9.1
+libOrbbecSDK.so.1.9.3
diff --git a/...amera/SDK/lib/arm64/libOrbbecSDK.so.1.9.1 → ...amera/SDK/lib/arm64/libOrbbecSDK.so.1.9.3 b/...amera/SDK/lib/arm64/libOrbbecSDK.so.1.9.1 → ...amera/SDK/lib/arm64/libOrbbecSDK.so.1.9.3
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.9
@@ -1 +1 @@
-libOrbbecSDK.so.1.9.1
+libOrbbecSDK.so.1.9.3
diff --git a/..._camera/SDK/lib/x64/libOrbbecSDK.so.1.9.1 → ..._camera/SDK/lib/x64/libOrbbecSDK.so.1.9.3 b/..._camera/SDK/lib/x64/libOrbbecSDK.so.1.9.1 → ..._camera/SDK/lib/x64/libOrbbecSDK.so.1.9.3
diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
@@ -1428,14 +1428,6 @@ void OBCameraNode::calcAndPublishStaticTransform() {
     publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
                     optical_frame_id_[stream_index]);
   }
-  // for (const auto &stream_index : HID_STREAMS) {
-  //   if (enable_stream_[stream_index]) {
-  //     publishStaticTF(tf_timestamp, zero_trans, zero_rot, camera_link_frame_id_,
-  //                     frame_id_[stream_index]);
-  //     publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
-  //                     optical_frame_id_[stream_index]);
-  //   }
-  // }
   publishStaticTF(tf_timestamp, zero_trans, zero_rot, camera_link_frame_id_, imu_frame_id_);
   publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, imu_frame_id_, imu_optical_frame_id_);
 }