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videoio: add Orbbec Gemini 330 camera support#27230
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asmorkalov commentedApr 16, 2025
@fengyuentau Could you handle the pr? |
fengyuentau commentedApr 16, 2025
@kaingwade will help to test this PR once we get the camera. |
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Tested the latest Gemini 330 series on Windows 10 and Ubuntu 22.04 (6.8.0-57)，335/335L/336 work well, but 336L only outputs the RGB stream.
| if(WIN32) | ||
| # copy orbbecsdk dll to output floader | ||
| if(MSVC_IDE) | ||
| file(COPY${OrbbecSDK_DLL_FILES}DESTINATION${EXECUTABLE_OUTPUT_PATH}/Release) | ||
| file(COPY${OrbbecSDK_DLL_FILES}DESTINATION${EXECUTABLE_OUTPUT_PATH}/Debug) | ||
| file(COPY${OrbbecSDK_RUNTIME_RESOURCE_FILES}DESTINATION${EXECUTABLE_OUTPUT_PATH}/Release) | ||
| file(COPY${OrbbecSDK_RUNTIME_RESOURCE_FILES}DESTINATION${EXECUTABLE_OUTPUT_PATH}/Debug) | ||
| file(COPY${OrbbecSDK_LIBRARY}DESTINATION${LIBRARY_OUTPUT_PATH}/Release) | ||
| file(COPY${OrbbecSDK_LIBRARY}DESTINATION${LIBRARY_OUTPUT_PATH}/Debug) | ||
| elseif(MSVCAND (CMAKE_GENERATORMATCHES"Visual")) | ||
| file(COPY${OrbbecSDK_DLL_FILES}DESTINATION${EXECUTABLE_OUTPUT_PATH}/${CMAKE_BUILD_TYPE}) | ||
| file(COPY${OrbbecSDK_RUNTIME_RESOURCE_FILES}DESTINATION${EXECUTABLE_OUTPUT_PATH}/${CMAKE_BUILD_TYPE}) | ||
| file(COPY${OrbbecSDK_LIBRARY}DESTINATION${LIBRARY_OUTPUT_PATH}/${CMAKE_BUILD_TYPE}) | ||
| else() | ||
| file(COPY${OrbbecSDK_DLL_FILES}DESTINATION${EXECUTABLE_OUTPUT_PATH}) | ||
| file(COPY${OrbbecSDK_RUNTIME_RESOURCE_FILES}DESTINATION${EXECUTABLE_OUTPUT_PATH}) | ||
| file(COPY${OrbbecSDK_LIBRARY}DESTINATION${LIBRARY_OUTPUT_PATH}) | ||
| endif() | ||
| else() | ||
| file(COPY${OrbbecSDK_RUNTIME_RESOURCE_FILES}DESTINATION${EXECUTABLE_OUTPUT_PATH}) | ||
| file(COPY${OrbbecSDK_DLL_FILES}DESTINATION${LIBRARY_OUTPUT_PATH}) |
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Unlike on MacOS, on Windows and Linux functionality of Orbbec SDK is integrated into OpenCV other than calling the SDK directly. These lines are not involved.
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kaingwade commentedApr 22, 2025
LGTM. |
| cv::MatsrcMat(frame->height, frame->width, CV_16UC1, frame->data); | ||
| cv::resize(srcMat, srcMat,cv::Size(), scale, scale, cv::INTER_LINEAR); | ||
| // left/right crop | ||
| constint valid_width = srcMat.cols - crop_left - crop_right; | ||
| if (valid_width <=0 || srcMat.rows <=0) { | ||
| CV_LOG_ERROR(NULL,"Invalid horizontal crop parameters"); | ||
| return; | ||
| } | ||
| srcMat =srcMat(cv::Rect(crop_left,0, valid_width, srcMat.rows)); | ||
| // top padding | ||
| if (pad_top >0) { | ||
| cv::copyMakeBorder(srcMat, srcMat, pad_top,0,0,0, cv::BORDER_CONSTANT,0); | ||
| } | ||
| // bottom crop | ||
| constint valid_height = srcMat.rows - crop_bottom; | ||
| if (valid_height <=0) { | ||
| CV_LOG_ERROR(NULL,"Invalid vertical crop parameters"); | ||
| return; | ||
| } | ||
| srcMat =srcMat(cv::Rect(0,0, srcMat.cols, valid_height)); |
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Why do you need resize and crop for the camera frames? I propose to return them in original size.
Also resized does not support in-place processing. The code always triggers srcMat realloc.
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Why do you need resize and crop for the camera frames? I propose to return them in original size. Also resized does not support in-place processing. The code always triggers srcMat realloc.
Hi, the resize/crop operations ensured pixel alignment between depth and color streams with mismatched resolutions. Without them, users would receive misaligned data. I now enforce matching resolutions to eliminate these steps. Thank you for your insight!
…the cropping operation.
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videoio: add Orbbec Gemini 330 camera supportopencv#27230### Pull Request Readiness ChecklistSee details athttps://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request- [x] I agree to contribute to the project under Apache 2 License.- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV- [x] The PR is proposed to the proper branch- [x] The feature is well documented and sample code can be built with the project CMake### Description of Changes#### motivated：- Orbbec has launched a new RGB-D camera — the Gemini 330. To fully leverage the capabilities of the Gemini 330, Orbbec simultaneously released version 2 of the open-source OrbbecSDK. This PR adapts the support for the Gemini 330 series cameras to better meet and respond to users’ application requirements.#### change：- Add support for the Orbbec Gemini330 camera.- Fixed an issue with Femto Mega on Windows 10/11; for details, see [issue](opencv#23237 (comment)).- When enabling `HAVE_OBSENSOR_ORBBEC_SDK`, the build now fetches version 2 of the OrbbecSDK, and the sample API calls have been updated to the v2 format.### Testing| OS | Compiler | Camera | Result ||:----------:|:---------------------------------------:|:-----------------:|:------:|| Windows 11 | (VS2022) MSVC runtime library version 14.40 | Gemini 335/336L | Pass || Windows 11 | (VS2022) MSVC runtime library version 14.19 | Gemini 335/336L | Pass || Ubuntu22.04| GCC 11.4 | Gemini 335/336L | Pass || Ubuntu18.04| GCC 7.5 | Gemini 335/336L | Pass |### AcknowledgementsThank you to the OpenCV team for the continuous support and for creating such a robust open source project. I appreciate the valuable feedback from the community and reviewers, which has helped improve the quality of this contribution!
Add macOS support for Orbbec Gemini330 camera#27930### Description of ChangesAdds macOS support for Orbbec Gemini330 in videoio by integrating OrbbecSDK v2. Completes the non-macOS work in [#27230](#27230).#### Motivation[#27230](#27230) skipped macOS. On macOS, UVC alone lacks required device controls; OrbbecSDK v2 provides them.#### Key Change - macOS: fetch/link OrbbecSDK v2.5.5 (replaces v1.9.4). - videoio (macOS): switch OrbbecSDK API usage from v1 to v2.### Pull Request Readiness ChecklistSee details athttps://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request- [x] I agree to contribute to the project under Apache 2 License.- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV- [x] The PR is proposed to the proper branch- [x] The feature is well documented and sample code can be built with the project CMake
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Pull Request Readiness Checklist
See details athttps://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Description of Changes
motivated：
change：
HAVE_OBSENSOR_ORBBEC_SDK, the build now fetches version 2 of the OrbbecSDK, and the sample API calls have been updated to the v2 format.Testing
Acknowledgements
Thank you to the OpenCV team for the continuous support and for creating such a robust open source project. I appreciate the valuable feedback from the community and reviewers, which has helped improve the quality of this contribution!