update version to v2.0.9

Author: jj

CMakeLists.txt

@@ -134,6 +134,7 @@ catkin_package(
   std_srvs
   tf2
   tf2_ros
+  backward_ros
 )
 
 # Include directories
@@ -278,3 +279,6 @@ install(DIRECTORY ${ORBBEC_LIBS_DIR}/
   FILES_MATCHING PATTERN "*.so"
   PATTERN "*.so.*"
 )
+add_custom_target(copy_orbbec_files ALL
+  COMMAND ${CMAKE_COMMAND} -E copy_directory  ${ORBBEC_LIBS_DIR}/extensions/  ${CATKIN_DEVEL_PREFIX}/lib/extensions/
+)

SDK/include/libobsensor/ObSensor.h

@@ -1,5 +1,5 @@
-/* License: Apache 2.0. See LICENSE file in root directory.
-    Copyright(c) 2020  Orbbec Corporation. All Rights Reserved. */
+// Copyright (c) Orbbec Inc. All Rights Reserved.
+// Licensed under the MIT License.
 
 /**
  * \file ObSensor.h
@@ -16,7 +16,8 @@
 #include <libobsensor/h/ObTypes.h>
 #include <libobsensor/h/Pipeline.h>
 #include <libobsensor/h/Property.h>
-#include <libobsensor/h/RecordPlayback.h>
 #include <libobsensor/h/Sensor.h>
 #include <libobsensor/h/StreamProfile.h>
 #include <libobsensor/h/Version.h>
+#include <libobsensor/h/TypeHelper.h>
+

SDK/include/libobsensor/ObSensor.hpp

@@ -1,5 +1,5 @@
-/* License: Apache 2.0. See LICENSE file in root directory.
-    Copyright(c) 2020  Orbbec Corporation. All Rights Reserved. */
+// Copyright (c) Orbbec Inc. All Rights Reserved.
+// Licensed under the MIT License.
 
 /**
  * \file ObSensor.hpp
@@ -14,8 +14,9 @@
 #include <libobsensor/hpp/Filter.hpp>
 #include <libobsensor/hpp/Frame.hpp>
 #include <libobsensor/hpp/Pipeline.hpp>
-#include <libobsensor/hpp/RecordPlayback.hpp>
+// #include <libobsensor/hpp/RecordPlayback.hpp>
 #include <libobsensor/hpp/Sensor.hpp>
 #include <libobsensor/hpp/StreamProfile.hpp>
-#include <libobsensor/hpp/Types.hpp>
 #include <libobsensor/hpp/Version.hpp>
+#include <libobsensor/hpp/TypeHelper.hpp>
+

SDK/include/libobsensor/h/Advanced.h

@@ -0,0 +1,212 @@
+// Copyright (c) Orbbec Inc. All Rights Reserved.
+// Licensed under the MIT License.
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "ObTypes.h"
+
+/**
+ * @brief Get the current depth work mode.
+ *
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return ob_depth_work_mode The current depth work mode.
+ */
+OB_EXPORT ob_depth_work_mode ob_device_get_current_depth_work_mode(const ob_device *device, ob_error **error);
+
+/**
+ * @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.
+ */
+OB_EXPORT const char *ob_device_get_current_depth_work_mode_name(const ob_device *device, ob_error **error);
+
+/**
+ * @brief Switch the depth work mode by ob_depth_work_mode.
+ *        Prefer to use ob_device_switch_depth_work_mode_by_name to switch depth mode when the complete name of the depth work mode is known.
+ *
+ * @param[in] device The device object.
+ * @param[in] work_mode The depth work mode from ob_depth_work_mode_list which is returned by ob_device_get_depth_work_mode_list.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return ob_status The switch result. OB_STATUS_OK: success, other failed.
+ */
+OB_EXPORT ob_status ob_device_switch_depth_work_mode(ob_device *device, const ob_depth_work_mode *work_mode, ob_error **error);
+
+/**
+ * @brief Switch the depth work mode by work mode name.
+ *
+ * @param[in] device The device object.
+ * @param[in] mode_name The depth work mode name which is equal to ob_depth_work_mode.name.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return ob_status The switch result. OB_STATUS_OK: success, other failed.
+ */
+OB_EXPORT ob_status ob_device_switch_depth_work_mode_by_name(ob_device *device, const char *mode_name, ob_error **error);
+
+/**
+ * @brief Request the list of supported depth work modes.
+ *
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return ob_depth_work_mode_list The list of ob_depth_work_mode.
+ */
+OB_EXPORT ob_depth_work_mode_list *ob_device_get_depth_work_mode_list(const ob_device *device, ob_error **error);
+
+/**
+ * \if English
+ * @brief Get the depth work mode count that ob_depth_work_mode_list hold
+ * @param[in] work_mode_list data struct contain list of ob_depth_work_mode
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return The total number contained in ob_depth_work_mode_list
+ *
+ */
+OB_EXPORT uint32_t ob_depth_work_mode_list_get_count(const ob_depth_work_mode_list *work_mode_list, ob_error **error);
+
+/**
+ * @brief Get the index target of ob_depth_work_mode from work_mode_list
+ *
+ * @param[in] work_mode_list Data structure containing a list of ob_depth_work_mode
+ * @param[in] index Index of the target ob_depth_work_mode
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return ob_depth_work_mode
+ *
+ */
+OB_EXPORT ob_depth_work_mode ob_depth_work_mode_list_get_item(const ob_depth_work_mode_list *work_mode_list, uint32_t index, ob_error **error);
+
+/**
+ * @brief Free the resources of ob_depth_work_mode_list
+ *
+ * @param[in] work_mode_list Data structure containing a list of ob_depth_work_mode
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ */
+OB_EXPORT void ob_delete_depth_work_mode_list(ob_depth_work_mode_list *work_mode_list, ob_error **error);
+
+/**
+ * @breif Get the current preset name.
+ * @brief The preset mean a set of parameters or configurations that can be applied to the device to achieve a specific effect or function.
+ *
+ * @param device The device object.
+ * @param error  Pointer to an error object that will be set if an error occurs.
+ * @return  The current preset name, it should be one of the preset names returned by @ref ob_device_get_available_preset_list.
+ */
+OB_EXPORT const char *ob_device_get_current_preset_name(const ob_device *device, ob_error **error);
+
+/**
+ * @brief Get the available preset list.
+ * @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
+ * settings to update the user program temporarily.
+ *
+ * @param device The device object.
+ * @param preset_name  Pointer to an error object that will be set if an error occurs. The name should be one of the preset names returned by @ref
+ * ob_device_get_available_preset_list.
+ * @param error  Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_device_load_preset(ob_device *device, const char *preset_name, ob_error **error);
+
+/**
+ * @brief Load preset from json string.
+ * @brief After loading the custom preset, the settings in the custom preset will set to the device immediately.
+ * @brief After loading the custom preset, the available preset list will be appended with the custom preset and named as the file name.
+ *
+ * @param device   The device object.
+ * @param json_file_path  The json file path.
+ * @param error   Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_device_load_preset_from_json_file(ob_device *device, const char *json_file_path, ob_error **error);
+
+/**
+ * @brief Load custom preset from data.
+ * @brief After loading the custom preset, the settings in the custom preset will set to the device immediately.
+ * @brief After loading the custom preset, the available preset list will be appended with the custom preset and named as the @ref presetName.
+ *
+ * @attention The user should ensure that the custom preset data is adapted to the device and the settings in the data are valid.
+ * @attention It is recommended to re-read the device settings to update the user program temporarily after successfully loading the custom preset.
+ *
+ * @param data The custom preset data.
+ * @param size The size of the custom preset data.
+ */
+OB_EXPORT void ob_device_load_preset_from_json_data(ob_device *device, const char *presetName, const uint8_t *data, uint32_t size, ob_error **error);
+
+/**
+ * @brief Export current settings as a preset json file.
+ * @brief After exporting the custom preset, the available preset list will be appended with the custom preset and named as the file name.
+ *
+ * @param device   The device object.
+ * @param json_file_path  The json file path.
+ * @param error   Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_device_export_current_settings_as_preset_json_file(ob_device *device, const char *json_file_path, ob_error **error);
+
+/**
+ * @brief Export current device settings as a preset json data.
+ * @brief After exporting the preset, a new preset named as the @ref presetName will be added to the available preset list.
+ *
+ * @attention The memory of the data is allocated by the SDK, and will automatically be released by the SDK.
+ * @attention The memory of the data will be reused by the SDK on the next call, so the user should copy the data to a new buffer if it needs to be
+ * preserved.
+ *
+ * @param[out] data return the preset json data.
+ * @param[out] dataSize return the size of the preset json data.
+ */
+OB_EXPORT void ob_device_export_current_settings_as_preset_json_data(ob_device *device, const char *presetName, const uint8_t **data, uint32_t *dataSize,
+                                                                     ob_error **error);
+
+/**
+ * @brief Get the available preset list.
+ *
+ * @param device The device object.
+ * @param error  Pointer to an error object that will be set if an error occurs.
+ * @return  The available preset list.
+ */
+OB_EXPORT ob_device_preset_list *ob_device_get_available_preset_list(const ob_device *device, ob_error **error);
+
+/**
+ * @brief Delete the available preset list.
+ *
+ * @param preset_list The available preset list.
+ * @param error  Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_delete_preset_list(ob_device_preset_list *preset_list, ob_error **error);
+
+/**
+ * @brief Get the number of preset in the preset list.
+ *
+ * @param preset_list The available preset list.
+ * @param error  Pointer to an error object that will be set if an error occurs.
+ * @return  The number of preset in the preset list.
+ */
+OB_EXPORT uint32_t ob_device_preset_list_get_count(const ob_device_preset_list *preset_list, ob_error **error);
+
+/**
+ * @brief Get the name of the preset in the preset list.
+ *
+ * @param preset_list The available preset list.
+ * @param index  The index of the preset in the preset list.
+ * @param error  Pointer to an error object that will be set if an error occurs.
+ * @return  The name of the preset in the preset list.
+ */
+OB_EXPORT const char *ob_device_preset_list_get_name(const ob_device_preset_list *preset_list, uint32_t index, ob_error **error);
+
+/**
+ * @brief Check if the preset list has the preset.
+ *
+ * @param preset_list The available preset list.
+ * @param preset_name  The name of the preset.
+ * @param error  Pointer to an error object that will be set if an error occurs.
+ * @return  Whether the preset list has the preset. If true, the preset list has the preset. If false, the preset list does not have the preset.
+ */
+OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *preset_list, const char *preset_name, ob_error **error);
+
+// The following interfaces are deprecated and are retained here for compatibility purposes.
+#define ob_depth_work_mode_list_count ob_depth_work_mode_list_get_count
+#define ob_device_preset_list_count ob_device_preset_list_get_count
+
+#ifdef __cplusplus
+}
+#endif