Update sdk to v1.10.16

orbbec_camera/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.

orbbec_camera/SDK/include/libobsensor/h/ObTypes.h

@@ -974,6 +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

orbbec_camera/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);
     }

orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.10

@@ -1 +1 @@
-libOrbbecSDK.so.1.10.15
+libOrbbecSDK.so.1.10.16

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.10

@@ -1 +1 @@
-libOrbbecSDK.so.1.10.15
+libOrbbecSDK.so.1.10.16

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.10

@@ -1 +1 @@
-libOrbbecSDK.so.1.10.15
+libOrbbecSDK.so.1.10.16

orbbec_camera/src/ob_camera_node.cpp

@@ -322,30 +322,6 @@ void OBCameraNode::setupDevices() {
     }
   }
 
-  for (const auto &stream_index : IMAGE_STREAMS) {
-    if (enable_stream_[stream_index]) {
-      OBPropertyID mirrorPropertyID = OB_PROP_DEPTH_MIRROR_BOOL;
-      if (stream_index == COLOR) {
-        mirrorPropertyID = OB_PROP_COLOR_MIRROR_BOOL;
-      } else if (stream_index == DEPTH) {
-        mirrorPropertyID = OB_PROP_DEPTH_MIRROR_BOOL;
-      } else if (stream_index == INFRA0) {
-        mirrorPropertyID = OB_PROP_IR_MIRROR_BOOL;
-
-      } else if (stream_index == INFRA1) {
-        mirrorPropertyID = OB_PROP_IR_MIRROR_BOOL;
-      } else if (stream_index == INFRA2) {
-        mirrorPropertyID = OB_PROP_IR_RIGHT_MIRROR_BOOL;
-      }
-
-      if (device_->isPropertySupported(mirrorPropertyID, OB_PERMISSION_WRITE)) {
-        RCLCPP_INFO_STREAM(logger_, "Setting " << stream_name_[stream_index] << " mirror to "
-                                               << (flip_stream_[stream_index] ? "ON" : "OFF"));
-        TRY_TO_SET_PROPERTY(setBoolProperty, mirrorPropertyID, flip_stream_[stream_index]);
-      }
-    }
-  }
-
   if (!depth_filter_config_.empty() && enable_depth_filter_) {
     RCLCPP_INFO_STREAM(logger_, "Load depth filter config: " << depth_filter_config_);
     TRY_EXECUTE_BLOCK(device_->loadDepthFilterConfig(depth_filter_config_.c_str()));
@@ -1779,7 +1755,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
     if (enable_stream_[COLOR] && color_frame) {
       std::unique_lock<std::mutex> lock(color_frame_queue_lock_);
       if (!enable_3d_reconstruction_mode_ || depth_laser_status) {
-        if(color_frame_queue_.size() > 2) {
+        if (color_frame_queue_.size() > 2) {
           color_frame_queue_.pop();
         }
         color_frame_queue_.push(frame_set);
@@ -2072,6 +2048,39 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
     camera_info.p.at(7) = -fy * ex.trans[1] / 1000.0 + 0.0;
   }
   CHECK(camera_info_publishers_.count(stream_index) > 0);
+  if (flip_stream_[stream_index]) {
+    // We are performing a horizontal flip (left-right mirror) of the image.
+    //
+    // After flipping the image, the camera's principal point (cx) in the
+    // camera_info must be adjusted so that it still refers to the correct point
+    // in the flipped image.
+
+    // Intrinsic matrix K:
+    // K = [ fx  0  cx
+    //       0   fy cy
+    //       0   0   1 ]
+    double &cx = camera_info.k[2];  // K[0,2]
+
+    // Store the original principal point cx
+    double old_cx = cx;
+
+    // For a horizontal flip, the new cx = (width - 1) - old_cx
+    // This effectively mirrors the cx value about the center of the image.
+    cx = (width - 1) - old_cx;
+
+    // Update the projection matrix P:
+    // P = [ fx  0   cx  Tx
+    //       0   fy  cy  Ty
+    //       0   0   1   0 ]
+    double &p_cx = camera_info.p[2];
+
+    double old_p_cx = p_cx;
+    p_cx = (width - 1) - old_p_cx;
+
+    // fx, fy, cy remain the same for a simple horizontal flip.
+    // The only changes are cx and p_cx.
+  }
+
   camera_info_publishers_[stream_index]->publish(camera_info);
   if (isGemini335PID(pid)) {
     publishMetadata(frame, stream_index, camera_info.header);
@@ -2097,6 +2106,10 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
     auto depth_scale = video_frame->as<ob::DepthFrame>()->getValueScale();
     image = image * depth_scale;
   }
+  if (flip_stream_[stream_index]) {
+    // flip image
+    cv::flip(image, image, 1);
+  }
   sensor_msgs::msg::Image::UniquePtr image_msg(new sensor_msgs::msg::Image());
 
   cv_bridge::CvImage(std_msgs::msg::Header(), encoding_[stream_index], image)