Merge pull request #80 from orbbec/main

release1.10.2

Author: zzuliys

CHANGELOG.md

@@ -1,5 +1,14 @@
 ## Change Log
 
+# release v1.10.1
+1.adjust imu queue default size;
+2.adapt to image related Interface;
+3.remove excess compilation items;
+4.palyback pre-init ob_context;
+5.adjust the order of IMU starting;
+6.adapt to mega-i device;
+7.update orbbecsdk version to last.
+
 # release v1.10.1
 1. update orbbecsdk version to v1.10.5.
 

CMakeLists.txt

@@ -190,7 +190,7 @@ endif()
 
 add_subdirectory(examples)
 add_subdirectory(src)
-add_subdirectory(tests)
+# add_subdirectory(tests)
 add_subdirectory(tools)
 
 if (K4A_BUILD_DOCS)

README.md

@@ -152,10 +152,10 @@ git submodule update --init --recursive
 
 ## Versioning
 
-| **products list** | **firmware version** |**platform**|
-| --- | --- | --- |
-| Orbbec Femto Bolt  | 1.0.6/1.0.9/1.1.1  |Windows10+, Ubuntu18.04+ |
-| Orbbec Femto Mega  | 1.1.5/1.1.7/1.2.8  |Windows10+, Ubuntu20.04+ |
+| **products list** | **firmware version** |**windows platform**|**linux platform**|
+| --- | --- | --- | --- |
+| Orbbec Femto Bolt  | 1.0.6/1.0.9/1.1.1  |Windows10, Windows11 | Ubuntu18.04, Ubuntu20.04, Ubuntu22.04|
+| Orbbec Femto Mega  | 1.1.5/1.1.7/1.2.8  |Windows10, Windows11 | Ubuntu20.04, Ubuntu22.04|
 
 
 ## Testing

README_PUBLIC.md

@@ -1,6 +1,11 @@
 # release v1.10.1
-## Change List
-1. update orbbecsdk version to v1.10.5.
+1.adjust imu queue default size;
+2.adapt to image related Interface;
+3.remove excess compilation items;
+4.palyback pre-init ob_context;
+5.adjust the order of IMU starting;
+6.adapt to mega-i device;
+7.update orbbecsdk version to last.
 
 ## Product support
 | **products list** | **firmware version** |**platform**|

examples/CMakeLists.txt

@@ -25,3 +25,8 @@ if (OpenCV_FOUND)
         file(COPY ${OpenCV_DIR}/../bin/ DESTINATION ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} FILES_MATCHING PATTERN "*.dll")
     endif ()
 endif ()
+
+install(TARGETS streaming_samples transformation_example viewer_opengl calibration_info fastpointcloud
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+    COMPONENT samples
+)

include/k4a/k4a.h

@@ -22,7 +22,7 @@ extern "C" {
 
 #define WRAPPER_VERSION_MAJOR 1
 #define WRAPPER_VERSION_MINOR 10
-#define WRAPPER_VERSION_PATCH 1
+#define WRAPPER_VERSION_PATCH 2
 
 /**
  * \defgroup Functions Functions

src/CMakeLists.txt

@@ -5,32 +5,57 @@ if(${BUILD_OB_K4A_WRAPPER})
     # Consumers of this include directory need to #include "k4ainternal/header.h"
     set(K4A_PRIV_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/../include ${CMAKE_CURRENT_BINARY_DIR}/orbbec/include)
     add_subdirectory(orbbec)
+
+    # Add folders in Alphabetical order to help reduce merge issues
+    add_subdirectory(allocator)
+    add_subdirectory(calibration)
+    # add_subdirectory(capturesync)
+    # add_subdirectory(color)
+    # add_subdirectory(color_mcu)
+    # add_subdirectory(depth)
+    # add_subdirectory(depth_mcu)
+    add_subdirectory(deloader)
+    # add_subdirectory(dewrapper)
+    add_subdirectory(dynlib)
+    add_subdirectory(global)
+    # add_subdirectory(image)
+    # add_subdirectory(imu)
+    add_subdirectory(logging)
+    add_subdirectory(math)
+    add_subdirectory(queue)
+    add_subdirectory(rwlock)
+    add_subdirectory(tewrapper)
+    # add_subdirectory(transformation)
+    # add_subdirectory(usbcommand)
 else()
     # Consumers of this include directory need to #include "k4ainternal/header.h"
     set(K4A_PRIV_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/../include ${CMAKE_CURRENT_BINARY_DIR}/sdk/include)
     add_subdirectory(sdk)
     add_subdirectory(firmware)
+
+    # Add folders in Alphabetical order to help reduce merge issues
+    add_subdirectory(allocator)
+    add_subdirectory(calibration)
+    add_subdirectory(capturesync)
+    add_subdirectory(color)
+    add_subdirectory(color_mcu)
+    add_subdirectory(depth)
+    add_subdirectory(depth_mcu)
+    add_subdirectory(deloader)
+    add_subdirectory(dewrapper)
+    add_subdirectory(dynlib)
+    add_subdirectory(global)
+    add_subdirectory(image)
+    add_subdirectory(imu)
+    add_subdirectory(logging)
+    add_subdirectory(math)
+    add_subdirectory(queue)
+    add_subdirectory(rwlock)
+    add_subdirectory(tewrapper)
+    add_subdirectory(transformation)
+    add_subdirectory(usbcommand)
 endif()
 
-# Add folders in Alphabetical order to help reduce merge issues
-add_subdirectory(allocator)
-add_subdirectory(calibration)
-add_subdirectory(capturesync)
-add_subdirectory(color)
-add_subdirectory(color_mcu)
-add_subdirectory(depth)
-add_subdirectory(depth_mcu)
-add_subdirectory(deloader)
-add_subdirectory(dewrapper)
-add_subdirectory(dynlib)
-add_subdirectory(global)
-add_subdirectory(image)
-add_subdirectory(imu)
-add_subdirectory(logging)
-add_subdirectory(math)
-add_subdirectory(queue)
-add_subdirectory(rwlock)
-add_subdirectory(tewrapper)
-add_subdirectory(transformation)
-add_subdirectory(usbcommand)
+
+
 

src/allocator/CMakeLists.txt

@@ -1,18 +1,17 @@
 # Copyright (c) Microsoft Corporation. All rights reserved.
 # Licensed under the MIT License.
 
-add_library(k4a_allocator STATIC 
+add_library(k4a_allocator STATIC
             allocator.c
             )
 
 # Consumers should #include <k4ainternal/allocator.h>
-target_include_directories(k4a_allocator PUBLIC 
+target_include_directories(k4a_allocator PUBLIC
     ${K4A_PRIV_INCLUDE_DIR})
 
 # Dependencies of this library
-target_link_libraries(k4a_allocator PUBLIC 
+target_link_libraries(k4a_allocator PUBLIC
     azure::aziotsharedutil
-    k4ainternal::image
     k4ainternal::logging)
 
 # Define alias for other targets to link against

src/orbbec/CMakeLists.txt

@@ -6,12 +6,22 @@ add_subdirectory(record)
 add_subdirectory(frame_queue)
 add_subdirectory(imu_sync)
 
+set(TRANSFORMATION_PATH ${CMAKE_SOURCE_DIR}/src/transformation)
+set(TRANSFORMATION_SOURCES
+    ${TRANSFORMATION_PATH}/extrinsic_transformation.c
+    ${TRANSFORMATION_PATH}/intrinsic_transformation.c
+    ${TRANSFORMATION_PATH}/mode_specific_calibration.c
+    ${TRANSFORMATION_PATH}/rgbz.c
+    ${TRANSFORMATION_PATH}/transformation.c
+)
+
 # Create K4A library
 add_library(k4a SHARED
             ob_k4a_impl.cpp
             dll_main.c
             ob_type_helper.cpp
-            ${CMAKE_CURRENT_BINARY_DIR}/version.rc)
+            ${CMAKE_CURRENT_BINARY_DIR}/version.rc
+            ${TRANSFORMATION_SOURCES})
 
 if(CACHE_OB_CONTEXT)
 target_compile_definitions(k4a PRIVATE -DCACHE_OB_CONTEXT)
@@ -62,12 +72,15 @@ find_package(OrbbecSDK REQUIRED)
 # Link in libraries
 target_link_libraries(k4a PRIVATE
     k4ainternal::calibration
-    k4ainternal::transformation
+    # k4ainternal::transformation
     k4ainternal::logging
     k4ainternal::queue
     k4ainternal::frame_queue
 	k4ainternal::imusync
     OrbbecSDK::OrbbecSDK
+    k4ainternal::math
+    k4ainternal::deloader
+    k4ainternal::tewrapper
 	)
 
 # Define alias for k4a
@@ -168,20 +181,8 @@ file(COPY ${OrbbecSDK_RUNTIME_RESOURCE_FILES} DESTINATION ${K4A_OUTPUT_DIR}/)
 
 if(WIN32)
     install(FILES ${OrbbecSDK_DLL_FILES} DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/transformation_example.exe DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/streaming_samples.exe DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/viewer_opengl.exe DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/calibration_info.exe DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/fastpointcloud.exe DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/viewer_opengl.exe DESTINATION ${CMAKE_INSTALL_BINDIR})
 else()
     install(FILES ${OrbbecSDK_DLL_FILES} DESTINATION ${CMAKE_INSTALL_LIBDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/transformation_example DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/streaming_samples DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/viewer_opengl DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/calibration_info DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/fastpointcloud DESTINATION ${CMAKE_INSTALL_BINDIR})
-    install(PROGRAMS ${CMAKE_BINARY_DIR}/bin/viewer_opengl DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()
 
 install(FILES ${OrbbecSDK_RUNTIME_RESOURCE_FILES} DESTINATION ${CMAKE_INSTALL_BINDIR})

src/orbbec/OrbbecSDK

@@ -1,4 +1,4 @@
-// Copyright (c) Microsoft Corporation. All rights reserved.
+// Copyright (c) Microsoft Corporation. All rights reserved.
 // Licensed under the MIT License.
 
 // This library
@@ -17,7 +17,7 @@
 #include <stdlib.h>
 #include <stdbool.h>
 
-#define IMU_QUEUE_DEFAULT_SIZE 10
+#define IMU_QUEUE_DEFAULT_SIZE 26
 
 #define IMU_GRAVITATIONAL_CONSTANT 9.81f
 
@@ -27,8 +27,8 @@
 typedef struct _imusync_context_t
 {
     frame_queue_t sync_queue;    // Queue for storing synchronized captures in
-    frame_queue_t accel_queue;   
-    frame_queue_t gyro_queue;    
+    frame_queue_t accel_queue;
+    frame_queue_t gyro_queue;
 
     volatile bool running;              // We have received start and should be processing data when true.
     LOCK_HANDLE lock;
@@ -61,21 +61,21 @@ void imusync_push_frame(imusync_t imusync_handle, imu_frame_data imu_data, imu_d
         sync = imusync_t_get_context(imusync_handle);
         result = K4A_RESULT_FROM_BOOL(sync != NULL);
     }
-    
+
     if (K4A_SUCCEEDED(result))
     {
         Lock(sync->lock);
         locked = true;
         result = sync->running == true ? K4A_RESULT_SUCCEEDED : K4A_RESULT_FAILED;
     }
-   
+
     if (K4A_SUCCEEDED(result))
     {
-        // TODO: 使用内存池管理
+        // TODO: using memory pool management
         imu_sync_frame_data *p_imu_frame_data = (imu_sync_frame_data *)malloc(sizeof(imu_sync_frame_data));
         p_imu_frame_data->temp = imu_data.temp;
         p_imu_frame_data->timestamp = imu_data.timestamp;
-   
+
         if (imu_type == ACCEL_FRAME_TYPE)
         {
             memcpy(p_imu_frame_data->accel_data, imu_data.data, sizeof(imu_data.data));
@@ -87,7 +87,7 @@ void imusync_push_frame(imusync_t imusync_handle, imu_frame_data imu_data, imu_d
             frame_queue_push(sync->gyro_queue, (k4a_capture_t)p_imu_frame_data);
         }
 
-        //2.取队列头节点
+        //2. retrieve queue header nodes
         k4a_capture_t accel_data = get_frame_queue_front(sync->accel_queue);
         k4a_capture_t gyro_data = get_frame_queue_front(sync->gyro_queue);
         if (accel_data != NULL && gyro_data != NULL)
@@ -96,7 +96,7 @@ void imusync_push_frame(imusync_t imusync_handle, imu_frame_data imu_data, imu_d
             imu_sync_frame_data *p_gyro_data = (imu_sync_frame_data *)gyro_data;
             if (p_accel_data->timestamp == p_gyro_data->timestamp)
             {
-                //合成一个Imu，push到同步队列
+                // Synthesize an Imu and push it to the synchronization queue
                 imu_sync_frame_data *p_imu_sync_frame_data = (imu_sync_frame_data *) malloc(sizeof(imu_sync_frame_data));
 
                 p_imu_sync_frame_data->timestamp = p_accel_data->timestamp;
@@ -284,16 +284,15 @@ k4a_wait_result_t imusync_get_frame(imusync_t imusync_handle, k4a_imu_sample_t *
         capture->acc_timestamp_usec = p_imu_sync_frame_data->timestamp;
         capture->gyro_timestamp_usec = p_imu_sync_frame_data->timestamp;
         capture->temperature = p_imu_sync_frame_data->temp;
-        //单位转换 g to m/s/s
+        // Unit conversion g to m/s/s
         capture->acc_sample.xyz.x = (float)(p_imu_sync_frame_data->accel_data[0] );
         capture->acc_sample.xyz.y = (float)(p_imu_sync_frame_data->accel_data[1] );
         capture->acc_sample.xyz.z = (float)(p_imu_sync_frame_data->accel_data[2] );
 
-        
         capture->gyro_sample.xyz.x = (float)(p_imu_sync_frame_data->gyro_data[0] );
         capture->gyro_sample.xyz.y = (float)(p_imu_sync_frame_data->gyro_data[1] );
         capture->gyro_sample.xyz.z = (float)(p_imu_sync_frame_data->gyro_data[2] );
-        
+
     }
 
     free_imu_buff(capture_handle);