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videoio: add Orbbec Gemini 330 camera support#27230

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Merged
asmorkalov merged 10 commits intoopencv:4.xfromsirudoi:4.x
Apr 25, 2025
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1b24e5d
obsensor: add Orbbec Gemini330 camera support
sirudoiApr 14, 2025
2ef9880
obsensor: pull OrbbecSDK v2 during build and update API calls
sirudoiApr 14, 2025
49a1437
obsensor: fix compiler warnings
sirudoiApr 16, 2025
9ce46bf
obsensor: replace OrbbecSDK Git clone with archive download
sirudoiApr 17, 2025
c45874c
obsensor: add firmware reminder to Note section
sirudoiApr 21, 2025
e9a444f
obsensor: revert OrbbecSDK invocation code on macOS
sirudoiApr 21, 2025
e145f1f
obsensor: fix API usage to v1 version
sirudoiApr 21, 2025
2f1eccf
obsensor: revert all API calls back to the v1 SDK.
sirudoiApr 22, 2025
9edb7d6
obsensor: move ObExtensionUnit definitions from header to source file
sirudoiApr 22, 2025
bf3f4e3
obsensor: modify the stream-start resolution configuration to remove …
sirudoiApr 23, 2025
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3 changes: 2 additions & 1 deletiondoc/tutorials/app/orbbec_uvc.markdown
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Expand Up@@ -123,4 +123,5 @@ This tutorial code's is shown lines below. You can also download it from
![BGR And DEPTH And DepthToColor frame](images/orbbec_uvc_cpp.jpg)

### Note
Mac users need sudo privileges to execute the code.
- Mac users need sudo privileges to execute the code.
- **Firmware**: If you’re using an Orbbec UVC 3D camera, please ensure your camera’s firmware is updated to the latest version to avoid potential compatibility issues. For more details, see [Orbbec’s Release Notes](https://github.com/orbbec/OrbbecSDK_v2/releases).
2 changes: 1 addition & 1 deletionmodules/videoio/include/opencv2/videoio.hpp
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Expand Up@@ -128,7 +128,7 @@ enum VideoCaptureAPIs {
CAP_INTEL_MFX = 2300, //!< Intel MediaSDK
CAP_XINE = 2400, //!< XINE engine (Linux)
CAP_UEYE = 2500, //!< uEye Camera API
CAP_OBSENSOR = 2600, //!< For Orbbec 3D-Sensor device/module (Astra+, Femto, Astra2, Gemini2, Gemini2L, Gemini2XL, Femto Mega) attention: Astra2 cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
CAP_OBSENSOR = 2600, //!< For Orbbec 3D-Sensor device/module (Astra+, Femto, Astra2, Gemini2, Gemini2L, Gemini2XL,Gemini330,Femto Mega) attention: Astra2 cameras currently only support Windows and Linux kernel versions no higher than 4.15, and higher versions of Linux kernel may have exceptions.
};


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Expand Up@@ -39,6 +39,21 @@ namespace obsensor {
#define OBSENSOR_FEMTO_MEGA_PID 0x0669 // pid of Orbbec Femto Mega Camera
#define OBSENSOR_GEMINI2L_PID 0x0673 // pid of Orbbec Gemini 2 L Camera
#define OBSENSOR_GEMINI2XL_PID 0x0671 // pid of Orbbec Gemini 2 XL Camera
#define OBSENSOR_GEMINI335_PID 0x0800 // pid of Orbbec Gemini 335 Camera
#define OBSENSOR_GEMINI330_PID 0x0801 // pid of Orbbec Gemini 330 Camera
#define OBSENSOR_GEMINI336_PID 0x0803 // pid of Orbbec Gemini 336 Camera
#define OBSENSOR_GEMINI335L_PID 0x0804 // pid of Orbbec Gemini 335L Camera
#define OBSENSOR_GEMINI330L_PID 0x0805 // pid of Orbbec Gemini 330L Camera
#define OBSENSOR_GEMINI336L_PID 0x0807 // pid of Orbbec Gemini 336L Camera

#define IS_OBSENSOR_GEMINI330_SHORT_PID(pid) \
((pid) == OBSENSOR_GEMINI335_PID || (pid) == OBSENSOR_GEMINI330_PID || (pid) == OBSENSOR_GEMINI336_PID)

#define IS_OBSENSOR_GEMINI330_LONG_PID(pid) \
((pid) == OBSENSOR_GEMINI335L_PID || (pid) == OBSENSOR_GEMINI330L_PID || (pid) == OBSENSOR_GEMINI336L_PID)

#define IS_OBSENSOR_GEMINI330_PID(pid) \
(IS_OBSENSOR_GEMINI330_SHORT_PID(pid) || IS_OBSENSOR_GEMINI330_LONG_PID(pid))

enum StreamType
{
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Expand Up@@ -228,8 +228,8 @@ MSMFStreamChannel::MSMFStreamChannel(const UvcDeviceInfo& devInfo) :
})
delete[] buffer;
HR_FAILED_RETURN(MFCreateDeviceSource(deviceAttrs_.Get(), &deviceSource_));
HR_FAILED_RETURN(deviceSource_->QueryInterface(__uuidof(IAMCameraControl), reinterpret_cast<void**>(&cameraControl_)));
HR_FAILED_RETURN(deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast<void**>(&videoProcAmp_)));
HR_FAILED_LOG(deviceSource_->QueryInterface(__uuidof(IAMCameraControl), reinterpret_cast<void**>(&cameraControl_)));
HR_FAILED_LOG(deviceSource_->QueryInterface(__uuidof(IAMVideoProcAmp), reinterpret_cast<void**>(&videoProcAmp_)));

HR_FAILED_RETURN(MFCreateAttributes(&readerAttrs_, 3));
HR_FAILED_RETURN(readerAttrs_->SetUINT32(MF_SOURCE_READER_DISCONNECT_MEDIASOURCE_ON_SHUTDOWN, false));
Expand DownExpand Up@@ -314,7 +314,7 @@ void MSMFStreamChannel::start(const StreamProfile& profile, FrameCallback frameC
currentProfile_ = profile;
currentStreamIndex_ = -1;

for (uint8_t index = 0; index <= 5; index++)
for (uint8_t index = 0; index < 5; index++)
{
for (uint32_t k = 0;; k++)
{
Expand All@@ -341,6 +341,12 @@ void MSMFStreamChannel::start(const StreamProfile& profile, FrameCallback frameC
fps == profile.fps &&
frameFourccToFormat(device_fourcc) == profile.format)
{
for (uint8_t i = 0; i < 5; ++i) {
if (index == i)
continue;

streamReader_->SetStreamSelection(i, FALSE);
}
HR_FAILED_RETURN(streamReader_->SetCurrentMediaType(index, nullptr, mediaType.Get()));
HR_FAILED_RETURN(streamReader_->SetStreamSelection(index, true));
streamReader_->ReadSample(index, 0, nullptr, nullptr, nullptr, nullptr);
Expand DownExpand Up@@ -391,9 +397,9 @@ bool MSMFStreamChannel::setXu(uint8_t ctrl, const uint8_t* data, uint32_t len)
}
memcpy(xuSendBuf_.data(), data, len);

KSP_NODEnode;
KSP_NODE node;
memset(&node, 0, sizeof(KSP_NODE));
node.Property.Set ={ 0xA55751A1, 0xF3C5, 0x4A5E, {0x8D, 0x5A, 0x68, 0x54, 0xB8, 0xFA, 0x27, 0x16} };
node.Property.Set =reinterpret_cast<const GUID &>(xuUnit_.id);
node.Property.Id = ctrl;
node.Property.Flags = KSPROPERTY_TYPE_SET | KSPROPERTY_TYPE_TOPOLOGY;
node.NodeId = xuNodeId_;
Expand All@@ -412,7 +418,7 @@ bool MSMFStreamChannel::getXu(uint8_t ctrl, uint8_t** data, uint32_t* len)
}
KSP_NODE node;
memset(&node, 0, sizeof(KSP_NODE));
node.Property.Set ={ 0xA55751A1, 0xF3C5, 0x4A5E, {0x8D, 0x5A, 0x68, 0x54, 0xB8, 0xFA, 0x27, 0x16} };
node.Property.Set =reinterpret_cast<const GUID&>(xuUnit_.id);
node.Property.Id = ctrl;
node.Property.Flags = KSPROPERTY_TYPE_GET | KSPROPERTY_TYPE_TOPOLOGY;
node.NodeId = xuNodeId_;
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Expand Up@@ -314,7 +314,7 @@ bool V4L2StreamChannel::setXu(uint8_t ctrl, const uint8_t* data, uint32_t len)
}
memcpy(xuSendBuf_.data(), data, len);
struct uvc_xu_control_query xu_ctrl_query = {
.unit =XU_UNIT_ID,
.unit =xuUnit_.unit,
.selector = ctrl,
.query = UVC_SET_CUR,
.size = (__u16)(ctrl == 1 ? 512 : (ctrl == 2 ? 64 : 1024)),
Expand All@@ -333,7 +333,7 @@ bool V4L2StreamChannel::getXu(uint8_t ctrl, uint8_t** data, uint32_t* len)
xuRecvBuf_.resize(XU_MAX_DATA_LENGTH);
}
struct uvc_xu_control_query xu_ctrl_query = {
.unit =XU_UNIT_ID,
.unit =xuUnit_.unit,
.selector = ctrl,
.query = UVC_GET_CUR,
.size = (__u16)(ctrl == 1 ? 512 : (ctrl == 2 ? 64 : 1024)),
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Expand Up@@ -35,19 +35,23 @@

namespace cv {
namespace obsensor {
const ObExtensionUnit OBSENSOR_COMMON_XU_UNIT = { XU_UNIT_ID_COMMON, { 0xA55751A1, 0xF3C5, 0x4A5E, { 0x8D, 0x5A, 0x68, 0x54, 0xB8, 0xFA, 0x27, 0x16 } } };
const ObExtensionUnit OBSENSOR_G330_XU_UNIT = { XU_UNIT_ID_G330, { 0xC9606CCB, 0x594C, 0x4D25, { 0xaf, 0x47, 0xcc, 0xc4, 0x96, 0x43, 0x59, 0x95 } } };

const uint8_t OB_EXT_CMD0[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x52, 0x00, 0x5B, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD1[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x54, 0x00, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD2[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x56, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD3[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x58, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD4[16] = { 0x47, 0x4d, 0x02, 0x00, 0x03, 0x00, 0x60, 0x00, 0xed, 0x03, 0x00, 0x00 };
const uint8_t OB_EXT_CMD5[16] = { 0x47, 0x4d, 0x02, 0x00, 0x03, 0x00, 0x62, 0x00, 0xe9, 0x03, 0x00, 0x00 };
const uint8_t OB_EXT_CMD6[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x7c, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00};
const uint8_t OB_EXT_CMD6[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0x7c, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00};
const uint8_t OB_EXT_CMD7[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x12, 0x55, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD8[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD9[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD11[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD12[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfe, 0x13, 0x3f, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD13[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x13, 0x4b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
const uint8_t OB_EXT_CMD14[16] = { 0x47, 0x4d, 0x04, 0x00, 0x02, 0x00, 0xfa, 0x14, 0xd3, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 };

#if defined(HAVE_OBSENSOR_V4L2)
#define fourCc2Int(a, b, c, d) \
Expand All@@ -62,6 +66,7 @@ const std::map<uint32_t, FrameFormat> fourccToOBFormat = {
{fourCc2Int('M', 'J', 'P', 'G'), FRAME_FORMAT_MJPG},
{fourCc2Int('Y', '1', '6', ' '), FRAME_FORMAT_Y16},
{fourCc2Int('Y', '1', '4', ' '), FRAME_FORMAT_Y14},
{fourCc2Int('Z', '1', '6', ' '), FRAME_FORMAT_Y16}
};

StreamType parseUvcDeviceNameToStreamType(const std::string& devName)
Expand DownExpand Up@@ -204,7 +209,6 @@ DepthFrameUnpacker::~DepthFrameUnpacker() {
delete[] outputDataBuf_;
}


#define ON_BITS(count) ((1 << count) - 1)
#define CREATE_MASK(count, offset) (ON_BITS(count) << offset)
#define TAKE_BITS(source, count, offset) ((source & CREATE_MASK(count, offset)) >> offset)
Expand DownExpand Up@@ -245,6 +249,7 @@ void DepthFrameUnpacker::process(Frame *frame){

IUvcStreamChannel::IUvcStreamChannel(const UvcDeviceInfo& devInfo) :
devInfo_(devInfo),
xuUnit_(IS_OBSENSOR_GEMINI330_PID(devInfo.pid) ? OBSENSOR_G330_XU_UNIT : OBSENSOR_COMMON_XU_UNIT),
streamType_(parseUvcDeviceNameToStreamType(devInfo_.name))
{

Expand DownExpand Up@@ -286,6 +291,11 @@ bool IUvcStreamChannel::setProperty(int propId, const uint8_t* /*data*/, uint32_
rst &= getXu(2, &rcvData, &rcvLen);
rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
rst &= getXu(2, &rcvData, &rcvLen);
}else if(IS_OBSENSOR_GEMINI330_PID(devInfo_.pid)) {
rst &= setXu(2, OB_EXT_CMD6, sizeof(OB_EXT_CMD6));
rst &= getXu(2, &rcvData, &rcvLen);
rst &= setXu(2, OB_EXT_CMD14, sizeof(OB_EXT_CMD14));
rst &= getXu(2, &rcvData, &rcvLen);
}else{
rst &= setXu(2, OB_EXT_CMD0, sizeof(OB_EXT_CMD0));
rst &= getXu(2, &rcvData, &rcvLen);
Expand DownExpand Up@@ -400,6 +410,42 @@ bool IUvcStreamChannel::getProperty(int propId, uint8_t* recvData, uint32_t* rec
*recvDataSize = sizeof(CameraParam);
memcpy(recvData, &param, *recvDataSize);
}
else if(IS_OBSENSOR_GEMINI330_SHORT_PID(devInfo_.pid)){
// return default param
CameraParam param;
param.p0[0] = 460.656f;
param.p0[1] = 460.782f;
param.p0[2] = 320.985f;
param.p0[3] = 233.921f;
param.p1[0] = 460.656f;
param.p1[1] = 460.782f;
param.p1[2] = 320.985f;
param.p1[3] = 233.921f;
param.p6[0] = 640;
param.p6[1] = 480;
param.p7[0] = 640;
param.p7[1] = 480;
*recvDataSize = sizeof(CameraParam);
memcpy(recvData, &param, *recvDataSize);
}
else if(IS_OBSENSOR_GEMINI330_LONG_PID(devInfo_.pid)){
// return default param
CameraParam param;
param.p0[0] = 366.751f;
param.p0[1] = 365.782f;
param.p0[2] = 319.893f;
param.p0[3] = 243.415f;
param.p1[0] = 366.751f;
param.p1[1] = 365.782f;
param.p1[2] = 319.893f;
param.p1[3] = 243.415f;
param.p6[0] = 640;
param.p6[1] = 480;
param.p7[0] = 640;
param.p7[1] = 480;
*recvDataSize = sizeof(CameraParam);
memcpy(recvData, &param, *recvDataSize);
}
else{
rst &= setXu(2, OB_EXT_CMD5, sizeof(OB_EXT_CMD5));
rst &= getXu(2, &rcvData, &rcvLen);
Expand DownExpand Up@@ -453,7 +499,15 @@ bool IUvcStreamChannel::initDepthFrameProcessor()

setXu(2, OB_EXT_CMD13, sizeof(OB_EXT_CMD13));
getXu(2, &rcvData, &rcvLen);
return true;
}
else if(IS_OBSENSOR_GEMINI330_PID(devInfo_.pid))
{
uint8_t* rcvData;
uint32_t rcvLen;

setXu(2, OB_EXT_CMD7, sizeof(OB_EXT_CMD7));
getXu(2, &rcvData, &rcvLen);
return true;
}
else if(streamType_ == OBSENSOR_STREAM_DEPTH && setXu(2, OB_EXT_CMD4, sizeof(OB_EXT_CMD4)))
Expand Down
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Expand Up@@ -27,7 +27,8 @@
namespace cv {
namespace obsensor {
#define XU_MAX_DATA_LENGTH 1024
#define XU_UNIT_ID 4
#define XU_UNIT_ID_COMMON 4
#define XU_UNIT_ID_G330 3

struct UvcDeviceInfo
{
Expand All@@ -46,6 +47,16 @@ enum StreamState
STREAM_STARTED = 2,
STREAM_STOPPING = 3,
};
struct Guid {
uint32_t data1;
uint16_t data2, data3;
uint8_t data4[8];
};

struct ObExtensionUnit {
uint8_t unit;
Guid id;
};

StreamType parseUvcDeviceNameToStreamType(const std::string& devName);
FrameFormat frameFourccToFormat(uint32_t fourcc);
Expand DownExpand Up@@ -104,6 +115,7 @@ class IUvcStreamChannel : public IStreamChannel {

protected:
const UvcDeviceInfo devInfo_;
const ObExtensionUnit xuUnit_;
StreamType streamType_;
Ptr<IFrameProcessor> depthFrameProcessor_;
};
Expand Down
31 changes: 17 additions & 14 deletionsmodules/videoio/src/cap_obsensor_capture.cpp
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Expand Up@@ -34,16 +34,16 @@ Ptr<IVideoCapture> create_obsensor_capture(int index)
VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
{
static const obsensor::StreamProfile colorProfile = { 640, 480, 30, obsensor::FRAME_FORMAT_MJPG };
static const obsensor::StreamProfile depthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile gemini2DepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile astra2ColorProfile = {800, 600, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile astra2DepthProfile = {800, 600, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile megaColorProfile = {1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile megaDepthProfile = {640, 576, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile gemini2lColorProfile = { 1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile gemini2lDepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile gemini2XlColorProfile = { 1280, 800, 10, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile gemini2XlDepthProfile = {1280, 800, 10, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile depthProfile = {640, 480, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile gemini2DepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile astra2ColorProfile = {800, 600, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile astra2DepthProfile = {800, 600, 30, obsensor::FRAME_FORMAT_Y14};
static const obsensor::StreamProfile megaColorProfile = {1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile megaDepthProfile = {640, 576, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile gemini2lColorProfile = { 1280, 720, 30, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile gemini2lDepthProfile = {1280, 800, 30, obsensor::FRAME_FORMAT_Y16};
static const obsensor::StreamProfile gemini2XlColorProfile = { 1280, 800, 10, obsensor::FRAME_FORMAT_MJPG};
static const obsensor::StreamProfile gemini2XlDepthProfile = {1280, 800, 10, obsensor::FRAME_FORMAT_Y16};

streamChannelGroup_ = obsensor::getStreamChannelGroup(index);
if (!streamChannelGroup_.empty())
Expand DownExpand Up@@ -80,11 +80,9 @@ VideoCapture_obsensor::VideoCapture_obsensor(int index) : isOpened_(false)
obsensor::StreamProfile profile = depthProfile;
if(OBSENSOR_GEMINI2_PID == channel->getPid()){
profile = gemini2DepthProfile;
}
else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
}else if(OBSENSOR_ASTRA2_PID == channel->getPid()){
profile = astra2DepthProfile;
}
else if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
}else if(OBSENSOR_FEMTO_MEGA_PID == channel->getPid()){
profile = megaDepthProfile;
}else if(OBSENSOR_GEMINI2L_PID == channel->getPid()){
profile = gemini2lDepthProfile;
Expand DownExpand Up@@ -164,6 +162,11 @@ bool VideoCapture_obsensor::retrieveFrame(int outputType, OutputArray frame)
grabbedDepthFrame_(rect).copyTo(frame);
}else if(OBSENSOR_GEMINI2XL_PID == streamChannelGroup_.front()->getPid()){
grabbedDepthFrame_.copyTo(frame);
}else if(IS_OBSENSOR_GEMINI330_PID(streamChannelGroup_.front()->getPid())){
const double DepthValueScaleG300 = 1.0;
grabbedDepthFrame_ = grabbedDepthFrame_*DepthValueScaleG300;
Rect rect(0, 0, 640, 480);
grabbedDepthFrame_(rect).copyTo(frame);
}else{
grabbedDepthFrame_.copyTo(frame);
}
Expand Down
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