bump to v2.3.4

Author: jjiszjj

README.MD

@@ -345,6 +345,7 @@ The following launch parameters are available:
   save in `~/.ros/Log`. For file logging, adjust `<FileLogLevel>` in `config/OrbbecSDKConfig_v1.0.xml`.
 - `ordered_pc`: Whether the point cloud should be organized in an ordered grid (`true`) or as an unordered set of
   points (`false`).
+- `preset_firmware_path` : The input parameter is the perset firmware path. If multiple paths are input, each path needs to be separated by `,`and a maximum of 3 firmware paths can be input
 - `device_preset`: The default value is `Default`. Only the G330 series is supported. For more information, refer to
   the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). Please refer to the table below to set
   the `device_preset` value based on your use case. The value should be one of the preset names
@@ -380,9 +381,7 @@ The following launch parameters are available:
 - `preset_firmware_path`: Burn customized preset firmware by passing in the customized preset firmware path
 
 * `color_ae_roi_[left|right|top|bottom]`,`depth_ae_roi_[left|right|top|bottom]`:Set Color and Depth auto exposure ROI.
-
 * `color_ae_roi_[left|right|top|bottom]`,`depth_ae_roi_[left|right|top|bottom]`:Set Color and Depth auto exposure ROI.
-
 * `color_ae_roi_[left|right|top|bottom]`,`depth_ae_roi_[left|right|top|bottom]`:Set Color and Depth auto exposure ROI.
 
 **IMPORTANT**: *Please carefully read the instructions regarding software filtering settings at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify these settings.*
@@ -529,7 +528,7 @@ For optimal performance, we strongly recommend updating to the latest firmware v
 
 The following devices are supported by the OrbbecSDK ROS2 Wrapper.
 
-| Product List | Minimal Firmware Version | **Launch File**          |
+| Product List | Minimal Firmware Version | **Launch File**    |
 | :----------- | :----------------------- | :----------------------- |
 | Gemini 330   | 1.2.20                   | gemini_330_series.launch |
 | Gemini 330L  | 1.2.20                   | gemini_330_series.launch |

SDK/include/libobsensor/ObSensor.h

@@ -20,4 +20,4 @@
 #include <libobsensor/h/StreamProfile.h>
 #include <libobsensor/h/Version.h>
 #include <libobsensor/h/TypeHelper.h>
-
+#include <libobsensor/h/RecordPlayback.h>

SDK/include/libobsensor/ObSensor.hpp

@@ -14,9 +14,8 @@
 #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/Version.hpp>
 #include <libobsensor/hpp/TypeHelper.hpp>
-

SDK/include/libobsensor/h/Context.h

@@ -155,7 +155,7 @@ OB_EXPORT void ob_set_logger_to_console(ob_log_severity severity, ob_error **err
 
 /**
  * @brief Set the extensions directory
- * @brief The extensions directory is used to search for dynamic libraries that provide additional functionality to the SDK， such as the Frame filters.
+ * @brief The extensions directory is used to search for dynamic libraries that provide additional functionality to the SDK, such as the Frame filters.
  *
  * @attention Should be called before creating the context and pipeline, otherwise the default extensions directory (./extensions) will be used.
  *

SDK/include/libobsensor/h/Device.h

@@ -388,7 +388,7 @@ OB_EXPORT const char *ob_device_info_get_firmware_version(const ob_device_info *
  *
  * @param[in] info Device Information
  * @param[out] error Pointer to an error object that will be set if an error occurs.
- * @return const char* The connection type，currently supports："USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
+ * @return const char* The connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2", "Ethernet"
  */
 OB_EXPORT const char *ob_device_info_get_connection_type(const ob_device_info *info, ob_error **error);
 
@@ -399,7 +399,7 @@ OB_EXPORT const char *ob_device_info_get_connection_type(const ob_device_info *i
  *
  * @param info Device Information
  * @param error Pointer to an error object that will be set if an error occurs.
- * @return const char* The IP address，such as "192.168.1.10"
+ * @return const char* The IP address, such as "192.168.1.10"
  */
 OB_EXPORT const char *ob_device_info_get_ip_address(const ob_device_info *info, ob_error **error);
 
@@ -533,7 +533,7 @@ OB_EXPORT const char *ob_device_list_get_device_serial_number(const ob_device_li
  * @param[in] list Device list object
  * @param[in] index Device index
  * @param[out] error Pointer to an error object that will be set if an error occurs.
- * @return const char* returns the device connection type，currently supports："USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2",
+ * @return const char* returns the device connection type, currently supports: "USB", "USB1.0", "USB1.1", "USB2.0", "USB2.1", "USB3.0", "USB3.1", "USB3.2",
  * "Ethernet"
  */
 OB_EXPORT const char *ob_device_list_get_device_connection_type(const ob_device_list *list, uint32_t index, ob_error **error);
@@ -546,10 +546,22 @@ OB_EXPORT const char *ob_device_list_get_device_connection_type(const ob_device_
  * @param list Device list object
  * @param index Device index
  * @param error Pointer to an error object that will be set if an error occurs.
- * @return const char* returns the device ip address，such as "192.168.1.10"
+ * @return const char* returns the device ip address, such as "192.168.1.10"
  */
 OB_EXPORT const char *ob_device_list_get_device_ip_address(const ob_device_list *list, uint32_t index, ob_error **error);
 
+/**
+ * @brief Get device local mac address
+ *
+ * @attention Only valid for network devices, otherwise it will return "0:0:0:0:0:0".
+ *
+ * @param list Device list object
+ * @param index Device index
+ * @param error Pointer to an error object that will be set if an error occurs.
+ * @return const char* returns the device mac address
+ */
+OB_EXPORT const char *ob_device_list_get_device_local_mac(const ob_device_list *list, uint32_t index, ob_error **error);
+
 /**
  * @brief Create a device.
  *
@@ -580,7 +592,7 @@ OB_EXPORT ob_device *ob_device_list_get_device_by_serial_number(const ob_device_
  * @brief On Linux platform, for usb device, the uid of the device is composed of bus-port-dev, for example 1-1.2-1. But the SDK will remove the dev number and
  * only keep the bus-port as the uid to create the device, for example 1-1.2, so that we can create a device connected to the specified USB port. Similarly,
  * users can also directly pass in bus-port as uid to create device.
- * @brief For GMSL device，the uid is GMSL port with “gmsl2-” prefix, for example gmsl2-1.
+ * @brief For GMSL device, the uid is GMSL port with "gmsl2-" prefix, for example gmsl2-1.
  *
  * @attention If the device has already been acquired and created elsewhere, repeated acquisitions will return an error.
  *

SDK/include/libobsensor/h/Error.h

@@ -68,7 +68,7 @@ OB_EXPORT ob_exception_type ob_error_get_exception_type(const ob_error *error);
 /**
  * @brief Delete the error object.
  *
- * @param[in] error The error object to delete.
+ * @param[in] error The error object to delete, you should set the pointer to NULL after calling this function.
  */
 OB_EXPORT void ob_delete_error(ob_error *error);
 

SDK/include/libobsensor/h/Frame.h

@@ -148,7 +148,7 @@ OB_EXPORT void ob_delete_frame(const ob_frame *frame, ob_error **error);
 
 /**
  * @brief Copy the information of the source frame object to the destination frame object.
- * @brief Including the index，timestamp，system timestamp，global timestamp and metadata will be copied.
+ * @brief Including the index, timestamp, system timestamp, global timestamp and metadata will be copied.
  *
  * @param[in] src_frame Source frame object to copy the information from.
  * @param[in] dst_frame Destination frame object to copy the information to.
@@ -224,7 +224,7 @@ OB_EXPORT void ob_frame_set_system_timestamp_us(ob_frame *frame, uint64_t system
 
 /**
  * @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
+ * @brief The global timestamp is the time point when the frame was captured by the device, and has been converted to the host clock domain. The
  * conversion process base on the frame timestamp and can eliminate the timer drift of the device
  *
  * @attention The global timestamp is disabled by default. If global timestamp is not enabled, the function will return 0. To enable it, call @ref
@@ -603,6 +603,24 @@ OB_EXPORT ob_frame *ob_frameset_get_frame_by_index(const ob_frame *frameset, uin
  */
 OB_EXPORT void ob_frameset_push_frame(ob_frame *frameset, const ob_frame *frame, ob_error **error);
 
+/**
+ * @brief Get point cloud frame width
+ *
+ * @param[in] frame point cloud Frame object
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return uint32_t return the point cloud frame width
+ */
+OB_EXPORT uint32_t ob_point_cloud_frame_get_width(const ob_frame *frame, ob_error **error);
+
+/**
+ * @brief Get point cloud frame height
+ *
+ * @param[in] frame point cloud Frame object
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return uint32_t return the point cloud frame height
+ */
+OB_EXPORT uint32_t ob_point_cloud_frame_get_height(const ob_frame *frame, ob_error **error);
+
 // The following interfaces are deprecated and are retained here for compatibility purposes.
 #define ob_frame_index ob_frame_get_index
 #define ob_frame_format ob_frame_get_format

SDK/include/libobsensor/h/MultipleDevices.h

@@ -62,7 +62,7 @@ OB_EXPORT ob_multi_device_sync_config ob_device_get_multi_device_sync_config(con
  *
  * @attention The frequency of the user call this function multiplied by the number of frames per trigger should be less than the frame rate of the stream. The
  * number of frames per trigger can be set by @ref framesPerTrigger.
- * @attention For some models，receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling this
+ * @attention For some models, receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling this
  * function should not be too high, please refer to the product manual for the specific supported frequency.
  * @attention If the device is not in the @ref OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.
  *

SDK/include/libobsensor/h/ObTypes.h

@@ -23,6 +23,8 @@ typedef struct ob_context_t                      ob_context;
 typedef struct ob_device_t                       ob_device;
 typedef struct ob_device_info_t                  ob_device_info;
 typedef struct ob_device_list_t                  ob_device_list;
+typedef struct ob_record_device_t                ob_record_device;
+typedef struct ob_playback_device_t              ob_playback_device;
 typedef struct ob_camera_param_list_t            ob_camera_param_list;
 typedef struct ob_sensor_t                       ob_sensor;
 typedef struct ob_sensor_list_t                  ob_sensor_list;
@@ -495,6 +497,15 @@ typedef enum {
 } OBAlignMode,
     ob_align_mode;
 
+/**
+ * @brief Camera performance mode
+ */
+typedef enum {
+    ADAPTIVE_PERFORMANCE_MODE, /**< Camera adaptive mode */
+    HIGH_PERFORMANCE_MODE,     /**< High Performance Mode */
+} OBCameraPerformanceMode,
+    ob_camera_performance_mode;
+
 /**
  * @brief Rectangle
  */
@@ -714,14 +725,14 @@ typedef struct {
     double  zpps;          // zpps=z0/fx
     float   baseline;      // baseline length, for monocular camera,it means the distance of laser to the center of IR-CMOS
     double  fx;            // focus
-    uint8_t bitSize;       // disparity bit size（raw disp bit size，for example: MX6000 is 12, MX6600 is 14）
-    float   unit;          // reference units：unit=10 denote 1cm; unit=1 denote 1mm; unit=0.5 denote 0.5mm; and so on
+    uint8_t bitSize;       // disparity bit size (raw disp bit size, for example: MX6000 is 12, MX6600 is 14)
+    float   unit;          // reference units: unit=10 denote 1cm; unit=1 denote 1mm; unit=0.5 denote 0.5mm; and so on
     float   minDisparity;  // dual disparity coefficient
     uint8_t packMode;      // data pack mode
-    float   dispOffset;    // disparity offset，actual disp=chip disp + disp_offset
-    int32_t invalidDisp;   // invalid disparity，usually is 0，dual IR add a auxiliary value.
-    int32_t dispIntPlace;  // disp integer digits，default is 8，Gemini2 XL is 10
-    uint8_t isDualCamera;  // 0 monocular camera，1 dual camera
+    float   dispOffset;    // disparity offset, actual disp=chip disp + disp_offset
+    int32_t invalidDisp;   // invalid disparity, usually is 0, dual IR add a auxiliary value.
+    int32_t dispIntPlace;  // disp integer digits, default is 8, Gemini2 XL is 10
+    uint8_t isDualCamera;  // 0 monocular camera, 1 dual camera
 } OBDisparityParam, ob_disparity_param;
 
 /**
@@ -826,7 +837,7 @@ typedef enum {
     /**
      * @brief Secondary synchronize mode
      * @brief Secondary device. Both process input trigger signal and output trigger signal to other devices.
-     * @brief Different sensors in a single devices receive trigger signals respectively：ext trigger -> RGB && ext trigger -> IR/Depth/TOF
+     * @brief Different sensors in a single devices receive trigger signals respectively: ext trigger -> RGB && ext trigger -> IR/Depth/TOF
      *
      * @attention With the current Gemini 2 device set to this mode, each Sensor receives the first external trigger signal
      *     after the stream is turned on and starts timing self-triggering at the set frame rate until the stream is turned off
@@ -860,7 +871,7 @@ typedef enum {
      * @brief Software trigger synchronize mode as secondary device
      * @brief The slave receives the external trigger signal (the external trigger signal comes from the soft trigger host) and outputs the trigger signal to
      * the external relay.
-     * @brief Different sensors in a single machine receive trigger signals respectively：ext trigger -> RGB && ext  trigger -> IR/Depth/TOF
+     * @brief Different sensors in a single machine receive trigger signals respectively: ext trigger -> RGB && ext  trigger -> IR/Depth/TOF
      */
     OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER = 0x07,
 
@@ -1295,14 +1306,14 @@ typedef struct {
     /**
      * @brief The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.
      *
-     * @attention This parameter is only valid for some models， please refer to the product manual for details.
+     * @attention This parameter is only valid for some models, please refer to the product manual for details.
      */
     int depthDelayUs;
 
     /**
      * @brief The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.
      *
-     * @attention This parameter is only valid for some models， please refer to the product manual for details.
+     * @attention This parameter is only valid for some models, please refer to the product manual for details.
      */
     int colorDelayUs;
 
@@ -1548,14 +1559,14 @@ typedef enum {
 
     /**
      * @brief Power line frequency
-     * @brief For anti-flickering， 0：Close， 1： 50Hz， 2： 60Hz， 3： Auto
+     * @brief For anti-flickering, 0: Close, 1: 50Hz, 2: 60Hz, 3: Auto
      */
     OB_FRAME_METADATA_TYPE_POWER_LINE_FREQUENCY = 15,
 
     /**
      * @brief Low light compensation
      *
-     * @attention The low light compensation is a feature inside the device，and can not manually control it.
+     * @attention The low light compensation is a feature inside the device, and can not manually control it.
      */
     OB_FRAME_METADATA_TYPE_LOW_LIGHT_COMPENSATION = 16,
 
@@ -1678,9 +1689,26 @@ typedef enum {
      *
      */
     OB_UVC_BACKEND_TYPE_V4L2,
+
+    /**
+     * @brief Use MSMF backend to access the UVC device
+     */
+    OB_UVC_BACKEND_TYPE_MSMF,
 } ob_uvc_backend_type,
     OBUvcBackendType;
 
+
+/**
+ * @brief The playback status of the media
+ */
+typedef enum {
+    OB_PLAYBACK_UNKNOWN ,
+    OB_PLAYBACK_PLAYING,  /**< The media is playing */
+    OB_PLAYBACK_PAUSED, /**< The media is paused */
+    OB_PLAYBACK_STOPPED, /**< The media is stopped */
+    OB_PLAYBACK_COUNT,
+} ob_playback_status, OBPlaybackStatus;
+
 // For compatibility
 #define OB_FRAME_METADATA_TYPE_LASER_POWER_MODE OB_FRAME_METADATA_TYPE_LASER_POWER_LEVEL
 #define OB_FRAME_METADATA_TYPE_EMITTER_MODE OB_FRAME_METADATA_TYPE_LASER_STATUS
@@ -1787,6 +1815,7 @@ typedef void(ob_frame_destroy_callback)(uint8_t *buffer, void *user_data);
  */
 typedef void(ob_log_callback)(ob_log_severity severity, const char *message, void *user_data);
 
+typedef void(*ob_playback_status_changed_callback)(ob_playback_status status, void *user_data);
 /**
  * @brief Check if the sensor_type is a video sensor
  *

SDK/include/libobsensor/h/Property.h

@@ -306,7 +306,7 @@ typedef enum {
     OB_PROP_DEPTH_ROTATE_INT = 118,
 
     /**
-     * @brief Get hardware laser power actual level which real state of laser element. OB_PROP_LASER_POWER_LEVEL_CONTROL_INT99）will effect this command
+     * @brief Get hardware laser power actual level which real state of laser element. OB_PROP_LASER_POWER_LEVEL_CONTROL_INT99 will effect this command
      * which it setting and changed the hardware laser energy level.
      */
     OB_PROP_LASER_POWER_ACTUAL_LEVEL_INT = 119,
@@ -501,6 +501,14 @@ typedef enum {
      * @brief hardware noise remove filter threshold ,range [0.0 - 1.0]
      */
     OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT = 212,
+    /**
+     * @brief soft trigger auto capture enable, use in OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING mode
+     */
+    OB_DEVICE_AUTO_CAPTURE_ENABLE_BOOL = 216,
+    /**
+     * @brief soft trigger auto capture interval time, use in OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING mode
+     */
+    OB_DEVICE_AUTO_CAPTURE_INTERVAL_TIME_INT = 217,
     /**
      * @brief Baseline calibration parameters
      */
@@ -553,7 +561,7 @@ typedef enum {
 
     /**
      * @brief Device network static ip config record
-     * @brief Using for get last static ip config，witch is record in device flash when user set static ip config
+     * @brief Using for get last static ip config, witch is record in device flash when user set static ip config
      *
      * @attention read only
      */
@@ -800,6 +808,11 @@ typedef enum {
      */
     OB_PROP_NETWORK_BANDWIDTH_TYPE_INT = 3027,
 
+    /**
+     * @brief Switch device performance mode, currently available in Adaptive Mode and High Performance Mode, such as G335LE.
+     */
+    OB_PROP_DEVICE_PERFORMANCE_MODE_INT = 3028,
+
     /**
      * @brief Calibration JSON file read from device (Femto Mega, read only)
      */