Merge pull request #27230 from sirudoi:4.x

sirudoi · web-flow · commit 485c7d5be73d · 2025-04-25T11:04:19.000+03:00
videoio: add Orbbec Gemini 330 camera support #27230 ### Pull Request Readiness Checklist See details at https://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](#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 | ### 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!
diff --git a/doc/tutorials/app/orbbec_uvc.markdown b/doc/tutorials/app/orbbec_uvc.markdown
@@ -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).
diff --git a/modules/videoio/include/opencv2/videoio.hpp b/modules/videoio/include/opencv2/videoio.hpp
@@ -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.
      };
 
 
diff --git a/modules/videoio/src/cap_obsensor/obsensor_stream_channel_interface.hpp b/modules/videoio/src/cap_obsensor/obsensor_stream_channel_interface.hpp
@@ -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
 {
diff --git a/modules/videoio/src/cap_obsensor/obsensor_stream_channel_msmf.cpp b/modules/videoio/src/cap_obsensor/obsensor_stream_channel_msmf.cpp
@@ -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));
@@ -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++)
         {
@@ -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);
@@ -391,9 +397,9 @@ bool  MSMFStreamChannel::setXu(uint8_t ctrl, const uint8_t* data, uint32_t len)
     }
     memcpy(xuSendBuf_.data(), data, len);
 
-    KSP_NODE                              node;
+    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_;
@@ -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_;
diff --git a/modules/videoio/src/cap_obsensor/obsensor_stream_channel_v4l2.cpp b/modules/videoio/src/cap_obsensor/obsensor_stream_channel_v4l2.cpp
@@ -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)),
@@ -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)),
diff --git a/modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.cpp b/modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.cpp
@@ -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) \
@@ -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)
@@ -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)
@@ -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))
 {
 
@@ -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);
@@ -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);
@@ -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)))
diff --git a/modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.hpp b/modules/videoio/src/cap_obsensor/obsensor_uvc_stream_channel.hpp
@@ -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
 {
@@ -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);
@@ -104,6 +115,7 @@ class IUvcStreamChannel : public IStreamChannel {
 
 protected:
     const UvcDeviceInfo devInfo_;
+    const ObExtensionUnit xuUnit_;
     StreamType streamType_;
     Ptr<IFrameProcessor> depthFrameProcessor_;
 };
diff --git a/modules/videoio/src/cap_obsensor_capture.cpp b/modules/videoio/src/cap_obsensor_capture.cpp
@@ -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())
@@ -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;
@@ -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);
             }
