Feature/imu rate

.github/workflows/ubuntu-build.yml

@@ -0,0 +1,21 @@
+name: C/C++ CI
+
+on:
+  push:
+    branches: [ "ob/feature/1.1.x" ]
+  pull_request:
+    branches: [ "ob/feature/1.1.x" ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: pull submodule
+      run: git submodule update
+    - name: cmake
+      run:  mkdir build && cd build && cmake ..
+    - name: make
+      run: cd build && make

.gitmodules

@@ -39,3 +39,7 @@
 	path = extern/libuvc/src
 	url = https://github.com/microsoft/libuvc.git
 	branch = Azure-Kinect-Sensor-SDK
+[submodule "src/orbbec/OrbbecSDK"]
+	path = src/orbbec/OrbbecSDK
+	url = https://github.com/orbbec/OrbbecSDK.git
+	branch = main

CHANGELOG.md

@@ -1,151 +1,53 @@
 ## Change Log
 
-### v1.4.1
-
-* Added NEON for ARM64
-* Failed conversion of MJPEG to BGRA is now a warning - not an error.
-
-### v1.4.0
-
-* Added ARM64 Suport.
-* On Windows Opencv-4.1.1 is now being used and tested.
-* CPP; Adding record.hpp, updated playback.hpp
-* Fixed small error in transformation functions
-* Updated K4aRecorder allow:
-  * Setting manual exposure based on exposure time.
-  * Record BGRA32 format.
-* Added transformation API's to CSharp
-
-### v1.3.0 
-
-* On Windows VS dependencies are now dynamically linked and require redistributables for
-[VS2015](https://www.microsoft.com/en-us/download/details.aspx?id=48145) or newer.
-* Error and Warning messages have been cleaned up to be less verbose.
-* Multi camera sync and capture green screen example added.
-* Added new k4a_calibration_color_2d_to_depth_2d API  to transform pixel from color image to depth image with searching on epipolar line
-* Added a capture::handle() method to the C++ wrapper, allowing access to the underlying k4a_capture_t when using the C++ wrapper.
-
-### v1.2.0
-
-* CSharp support added.
-* Depth Engine breaking changes to 2.0, SDK now relies on this new version.
-* Firmware updates for better USB compatibility.
-* Added new API's k4a_image_get_device_timestamp_usec(), k4a_image_get_system_timestamp_usec(), 
-k4a_image_set_device_timestamp_usec(), k4a_image_set_system_timestamp_usec(), and k4a_image_set_exposure_usec(). (#350)
-* Deprecated API's k4a_image_get_timestamp_usec(), k4a_image_set_timestamp_usec(), and k4a_image_set_exposure_time_usec().
-* Added new transformation API k4a_transformation_depth_image_to_color_camera_custom(). (#566)
-* Fixed color exposure get & set API's. (#515)
-* The C++ API for playback was made public. (#493)
-* Added custom track recording and playback API. (#246)
-* All playback API functions now return timestamps in device time instead of relative to start of recording. (#592)
-* Deprecated k4a_playback_get_last_timestamp_usec() and replaced with k4a_playback_get_recording_length_usec().
-
-### v1.1.0
-
-* Clean up repo documentation for going public.
-* New API k4a_device_get_color_control_capabilities() to read color control capabilities was added. (#319)
-* C++ wrapper added.
-* Linux, Color camera support added.
-* K4A_COLOR_CONTROL_AUTO_EXPOSURE_PRIORITY deprecated. (#277)
-* New K4A_\*_TRACK tags added to recordings for track identification. (#259)
-* Playback External Sync example added. (#274)
-* Playback API format conversion support added (MJPG -> BGRA32, etc...). (#237)
-* Playback IMU API added. (#213)
-* Various playback performance improvements, including read-ahead and cluster caching. (#203, #189, #142)
-* k4a_playback_seek_timestamp() functionality changed to fix edge cases. (#141)
-
-### v1.0.0
-
-* Breaking Change to pre-production devices, update container ID & serial number
-* Added support for multiple devices on a single PC.
-
-### v0.8.0
-
-* Output intrinsic calibrated IMU data
-* Changed units of IMU accelerometer reading from G to meters per second squared.
-* Changed units of IMU Gyroscope reading from degrees per second to radians per second.
-* Breaking change to k4a_calibration_get_from_raw API, size of source calibration string is now required along with the 
-source calibration.
-* Added FW version minimum bar check
-* Integrated GPU transform engine into SDK to accelerate transformation between depth image and color image.
-* Depth Engine plugin versioning through binding with SDK during loading and more logging added.
-
-### v0.7.1
-
-* Added file based record and playback headers to SDK
-* Swapped tangential distortion parameters p1 and p2 in intrinsic calibration to align with OpenCV.
-
-### v0.7.0
-
-* Removed deprecated API's and structures
-* Drop depth captures if they arrive successfully over USB but are too small.
-* Drop IMU captures when the timestamp is reported is not valid.
-* On k4a_device_open, stop depth and IMU sensors from streaming in the event the previous session didn't clean up.
-* Renamed k4a_camera_calibration_t to k4a_calibration_camera_t for naming consistency in k4atypes.h.
-* Renamed k4a_intrinsic_parameters_t to k4a_calibration_intrinsic_parameters_t for naming consistency in k4atypes.h.
-* OpenCV compatibility
-    * Added support for Brown-Conrady lens model.
-    * Modified parameters of intrinsic calibration to be pixelized and 0-centered instead of unitized and 0-cornered.
-
-### v0.6.0
-
-* Added support for k4a_image_t and family of API's to support access.
-* Removed direction image access via k4a_capture_ API's
-* Deprecated most k4a_capture_get_* API's
-
-### v0.5.2
-
-* Switched firmware file to manufacturing version to address bugs
-
-### v0.5.1
-
-* Add firmware binary blob to SDK
-
-### v0.5.0
-
-* destub_depth_engine_process_frame error was converted to a warning and message softened.
-* Added synchronized_images_only to k4a_device_configuration_t
-* USB depth transfer request size more closely matches expected image size.
-* k4aviewer now can save default settings
-* Bug fixes
-
-### v0.3.0
-
-* Additional color camera controls
-* Bug fixes
-* Support native RGB
-* Support for external sync connections
-* Point cloud viewer
-* Updated K4AViewer to support High DPI displays
-* Removed k4a image format K4A\_IMAGE\_FORMAT\_UNKNOWN
-* Removed k4a FPS value K4A\_FRAMES\_PER\_SECOND\_OFF
-* Added tool to run firmware update
-* IMU recording and device selection was added to k4arecorder
-* Removed x86 builds from the SDK
-* Removed DepthEngine.pdb from the SDK
-* Minor breaking change to k4a_device_configuration_t; color_fps & depth_fps consolidated to camera_fps
-
-### v0.2.0
-
-Sensor SDK v0.2.0 includes major refactoring to API
-
-* API refactoring (**breaking change**)
-* Depth-RGB correlation API
-* ***Note!*** When using both Depth-RGB cameras same time they will be synchronized and can only run with the same framerate. Option to have separate frame rates have been disabled.
-* Additional frame-meta data support (e.g. resolution, laser temperature)
-* Coordinate space helpers (Project 3D to 2D, Unproject 2D to 3D, Extrinsic transformation (3D to 3D)
-* Sensor recording API refactoring and improvements
-* Sensor recorder and Kinect for Azure viewer updated to new API
-
-### v0.1.0
-
-This is the very first internal sensor SDK release
-
-* Depth camera access
-* RGB camera access
-* RGB camera exposure control
-* IMU access
-* Device calibration blob access
-* Frame meta-data for Depth and RGB device timestamp
-* Kinect for Azure Viewer, samples (streaming, enumeration,..)
-* Recording tool (Depth and RGB streams)
+# release v1.10.1
+1. update orbbecsdk version to v1.10.5.
+
+# release v1.9.4
+1. update orbbecsdk version to v1.10.2;
+2. support green_screen sample;
+3. video frame timestamps for Femto Bolt modify microseconds (us).（Femto Bolt firmware version Need 1.1.1 or above）.
+
+### v1.9.3
+1. fix multi device sync bug;
+2. support for obtaining stride.
+
+### v1.9.2
+1. switch OrbbecSDK version to v1.9.5;
+2. add k4a_device_switch_device_clock_sync_mode interface;
+3. add k4a_device_get_wired_sync_mode interface;
+4. add k4a_device_enable_soft_filter interface;
+5. k4aviewer support indicator switch;
+6. fix other bugs.
+
+### v1.9.1
+| **products list** | **firmware version** |**platform**|
+| --- | --- | --- |
+| Orbbec Femto Bolt  | 1.0.6/1.0.9  |Windows10+, Ubuntu18.04+ |
+| Orbbec Femto Mega  | 1.1.5/1.1.7  |Windows10+, Ubuntu20.04+ |
+
+1. Switch OrbbecSDK version to v1.9.4;
+2. Support pre initialization of depthengine;
+3. Support nv12;
+4. Adjust the imu data to be consistent with AKDK;
+5. Support for obaining imu extrinsic parameter data;
+6. Add color hdr control in color control command;
+7. Fix system timestamp setting error;
+8. Adapt indicator light switch;
+9. Shut unsupport resolutions by k4aviewer;
+10. Filter out device not supported by k4aviewer;
+11. Filter out null device by k4aviewer;
+12. Turn off prompts that do not support audio by k4aviewer;
+13. Fix log display error by k4aviewer.
+
+### v1.8.3
+1. Fix memory leakage issue;
+2. Fix the issue of failed reopening after abnormal shutdown;
+3. Other bug fixes.
+
+### v1.8.1
+support Femto Bolt and Femto Mega
+| **products list** | **firmware version** |**platform**|
+| --- | --- | --- |
+| Orbbec Femto Bolt  | 1.0.6  |Windows10+, Ubuntu18.04+ |
+| Orbbec Femto Mega  | 1.1.5/1.1.7  |Windows10+, Ubuntu20.04+ |

CMakeLists.txt

@@ -26,6 +26,8 @@ project(K4A LANGUAGES C CXX
 option(K4A_BUILD_DOCS "Build K4A doxygen documentation" OFF)
 option(K4A_MTE_VERSION "Skip FW version check" OFF)
 option(K4A_SOURCE_LINK "Enable source linking on MSVC" OFF)
+option(BUILD_OB_K4A_WRAPPER "Build K4A wrapper for Orbbec SDK" ON)
+option(CACHE_OB_CONTEXT "Cache the Orbbec SDK Context on k4a impl" OFF)
 
 include(GitCommands)
 
@@ -53,8 +55,27 @@ if("${CMAKE_VERSION}" VERSION_LESS "3.14.0")
     endif()
 endif()
 
+# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
+# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
+
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PROJECT_BINARY_DIR}/bin)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PROJECT_BINARY_DIR}/bin)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${PROJECT_BINARY_DIR}/bin)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${PROJECT_BINARY_DIR}/bin)
+
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_DEBUG ${PROJECT_BINARY_DIR}/lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE ${PROJECT_BINARY_DIR}/lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_MINSIZEREL ${PROJECT_BINARY_DIR}/lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELWITHDEBINFO ${PROJECT_BINARY_DIR}/lib)
+
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG ${PROJECT_BINARY_DIR}/bin)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE ${PROJECT_BINARY_DIR}/bin)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_MINSIZEREL ${PROJECT_BINARY_DIR}/bin)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELWITHDEBINFO ${PROJECT_BINARY_DIR}/bin)
 
 if ("${CMAKE_C_COMPILER_ID}" STREQUAL "MSVC")
     # Turn off incremental linking
@@ -133,6 +154,12 @@ endif()
 # same folder.
 if ("${CMAKE_SYSTEM_NAME}" STREQUAL "Linux")
     set(CMAKE_BUILD_RPATH "\$ORIGIN")
+    if(${BUILD_OB_K4A_WRAPPER})
+        set(CMAKE_SKIP_BUILD_RPATH FALSE)
+        set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+        set(CMAKE_INSTALL_RPATH "\$ORIGIN:\$ORIGIN/../lib")
+        set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+    endif()
 endif()
 
 include(DetermineTargetArch)
@@ -163,16 +190,16 @@ endif()
 
 add_subdirectory(examples)
 add_subdirectory(src)
-add_subdirectory(tests)
+# add_subdirectory(tests)
 add_subdirectory(tools)
 
 if (K4A_BUILD_DOCS)
     find_package(Doxygen 1.8.14 EXACT)
     if (DOXYGEN_FOUND)
-        set(DOXYGEN_MAINPAGE ${CMAKE_CURRENT_SOURCE_DIR}/doxygen/mainpage.md) 
-        set(DOXYGEN_SOURCES 
-            ${CMAKE_CURRENT_SOURCE_DIR}/include/k4a 
-            ${CMAKE_CURRENT_SOURCE_DIR}/include/k4arecord 
+        set(DOXYGEN_MAINPAGE ${CMAKE_CURRENT_SOURCE_DIR}/doxygen/mainpage.md)
+        set(DOXYGEN_SOURCES
+            ${CMAKE_CURRENT_SOURCE_DIR}/include/k4a
+            ${CMAKE_CURRENT_SOURCE_DIR}/include/k4arecord
             ${CMAKE_CURRENT_SOURCE_DIR}/src/csharp/sdk
             ${DOXYGEN_MAINPAGE})
         set(DOXYGEN_LAYOUT_FILE ${CMAKE_CURRENT_SOURCE_DIR}/doxygen/DoxygenLayout.xml)
@@ -197,7 +224,7 @@ if (K4A_BUILD_DOCS)
     endif()
 endif()
 
-option(K4A_VALIDATE_CLANG_FORMAT "Validate clang-format results as part of build" Yes)
+option(K4A_VALIDATE_CLANG_FORMAT "Validate clang-format results as part of build" No)
 
 set (CLANG_FORMAT_ROOT
     ${CMAKE_CURRENT_SOURCE_DIR}/src