Orbbec improvements

[f00f]

This makes MetriCam's Orbbec wrapper compatible with current Orbbec Astra Mini S devices - and hopefully other current devices, too.

Suggested commit message for the squash commit:

Orbbec improvements

- Compatibility with current devices
- Cleaner OpenNI2 init/shutdown
- Faster device discovery
- Several minor improvements

[f00f]

I've also successfully tested the MinimalSample of this branch with 2 cameras now. \o/

[f00f]

I'm unsure about including b5ad238, the changes to the MinimalSample. What's your opinion?

[jangernert]

@f00f the only thing I don't like about the minimal sample changes is that it now makes some assumptions specific to orbbec cameras like // This should throw
But on the other hand the MinimalSample is more or less just a playground used while working on a camera back-end. So one will have stashed local changes to it all the time anyway.

[f00f]

@f00f the only thing I don't like about the minimal sample changes is that it now makes some assumptions specific to orbbec cameras like // This should throw
But on the other hand the MinimalSample is more or less just a playground used while working on a camera back-end. So one will have stashed local changes to it all the time anyway.

Fully agree. It would be cool to have this separated, i.e. a generic file and a file that runs if camerais Orbbecetc. That reminds me of mycamera-tests` branch...

[jangernert]

Is the Astra camera operational if initializing OpenNI failed? If not, just logging an error seems not harsh enough.

[f00f]

Agree. Changed in 8aad6ff

[sisiplac]

I would have liked the merge commit message to contain the info that our implementation is no longer compatible with blue cameras. For people working with blue cameras the change in the IR offset can be breaking.

[f00f]

@sisiplac if it was ever applied in the correct direction...
But you are right. The changelog of the next release should mention that as a breaking change.

[sisiplac]

@f00f I can definitively confirm that it was applied in the correct direction for devices with blue PCB.