New feature

1、Added confidence stream (Y8 format or Y12C4 format) for Gemini 435Le, where Y12C4 indicates that each pixel uses 16 bits in total, with the high 12 bits representing Depth and the low 4 bits representing Confidence.
2、Added update preset feature for Gemini 435Le.
3、Added Sequence Id Filter for Gemini 335Le.
4、Added Disparity Search Offset for Gemini 435Le.
5、Added Timestamp and Sensor Timestamp in Medatata for Gemini 435Le.
6、Added mirror, flip, and rotation features for Femto Mega I.

Improvement

1、Added check the device status before starting the stream for Gemini 330 series Device. If there is a sensor or configuration error, an error message will be displayed, prompting update firmware. (Notes: require firmware version 1.5.55 or above for Gemini 330 series).
2、Fixed the issue of incorrect temperature readings when the IMU stream is off for Gemini 330 series. The firmware now returns the temperature as NAN, displayed as "N/A" in OrbbecViewer.(Notes: require firmware version 1.5.55 or above for Gemini 330 series).
3、Added Color and Depth timestamps to a CSV file in benchmark sample.
4、Enforce an error when attempting to enable Y12/Y16 format IR streams in non-factory mode for the Gemini 330 series.
5、Modify and optimize the abnormal frame timestamp filtering logic (now considered abnormal only if the difference between consecutive frames exceeds 5 seconds; previously judged based on the duration of 10 frames).

Fixed issue

1、Fixed runtime errors when Linux compiled sample were copied to other machines by configuring RPATH with relative paths.
2、Fixed start stream failure issue for Gemini 330 series with firmware versions earlier than 1.3.25.
3、Fixed enumeration failures of Femto Mega/Mega I network devices on Linux systems with multiple network interface cards (NICs).
4、Fixed compilation errors in the PCL sample program.
5、Fixed color cast issues in BGR data rendering for the device_playback sample.
6、Fixed the incorrect depth values during playback after depth recording for Gemini 215/210 devices.
7、Fixed the issue where device heartbeat configured in the XML file failed to take effect.
8、Fixed IMU frame loss and timestamp anomaly warnings within the first 10 seconds after enabling high frame rate (≥200Hz).
9、Fixed an issue where hardware D2C alignment was incorrect on multiple devices with different Color and Depth resolutions.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: Orbbec_SDK_API_Reference.html

Download the Orbbec SDK package

The source code package contains the complete set of files, including Orbbec SDK libraries, headers, and sample code for all platforms. Please download it directly from the Assets section below.

1. Packages starting with OrbbecSDK are SDK packages for different platforms, containing precompiled binary files.
2. Packages starting with OrbbecViewer are viewer packages that provide tools for interacting with Orbbec devices.
3. The file OrbbecSDK_vx.x.x_win64.exe serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Windows.
4. The file OrbbecSDK_vx.x.x_amd64.deb serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Linux x86_64, likes ubuntu.
5. The file OrbbecSDK_vx.x.x_arm64.deb serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on ARM64，likes NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX.

Install via .deb Package

• On the Linux x64 (ubuntu) platform, install using the following command. (If you are using the Arm64 platform, please use OrbbecSDK_vx.x.x_arm64.deb)

sudo dpkg -i OrbbecSDK_v2.x.x_amd64.deb

• Check the entire package path of the Orbbec SDK using dpkg -L orbbecsdk, while the header files and library files of the Orbbec SDK will be installed in the /usr/local path.

dpkg -L orbbecsdk

• Run the Orbbec Viewer.

sudo ./OrbbecViewer 

Supported Devices and Recommended Firmware Version

Supported platforms

• Windows 10 or later: x64 architectures
• Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
• Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX

New feature

● Added support for Gemini 435Le.
● Added support for frame mirror, flip, and rotation.
● Added save to disk sample to save depth and color images.
● Added frame interleave function for Gemini 335Le.
● Added depth noise removal filter and post-processing filters for Femto Mega Series.
● Added Windows and Linux/Arm64 installation packages.

Improvement

● Updated multi devices firmware update sample to add device reboot after update firmware.

Fixed issue

● Fixed some issues with record and playback. (Notes: Record and playback require firmware version 1.4.00 or above for Gemini 330 series.)
● Fixed the issue of depth distortion parameters in Astra2 device.
● Fixed the issue of color distortion parameters after C2D in Femto Mega Series.
● Fixed Right IR can not mirror issue in common usages sample.
● Fixed the issue where firmware update could fail on Gemini 335Le when global timestamp or heartbeat was enabled.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: Orbbec_SDK_API_Reference.html

Download the Orbbec SDK package

The source code package contains all the content, including Orbbec SDK library files, header files, sample files, etc. for all platforms. Please download the source code package in the assets directly.

1. Packages starting with OrbbecSDK are SDK packages for different platforms, containing precompiled binary files.
2. Packages starting with OrbbecViewer are viewer packages that provide tools for interacting with Orbbec devices.
3. The file OrbbecSDK_vx.x.x_win64.exe serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Windows.
4. The file OrbbecSDK_vx.x.x_amd64.deb serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Linux x64,likes ubuntu.
5. The file OrbbecSDK_vx.x.x_arm64.deb serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Arm64，likes NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX.

• Notes: macOS is a beta version:

1. macOS OrbbecSDK support M series chip, 11.0 and above; Intel x86 chip, 10.15 and above.
2. macOS OrbbecViewer support M series chip, 11.0 and above.
3. macOS supported products: Gemini 2, Gemini 2 L, Astra 2, Femto Mega, Gemini 330 series.

Install via .deb Package

• On the Linux x64 (ubuntu) platform, install using the following command. (If you are using the Arm64 platform, please use OrbbecSDK_vx.x.x_arm64.deb)

sudo dpkg -i OrbbecSDK_v2.x.x_amd64.deb

• Check the entire package path of the Orbbec SDK using dpkg -L orbbecsdk, while the header files and library files of the Orbbec SDK will be installed in the /usr/local path.

dpkg -L orbbecsdk

• Run the Orbbec Viewer.

sudo ./OrbbecViewer 

Supported Devices and Recommended Firmware Version

Supported platforms

• Windows 10 or later: x64 architectures
• Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
• Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX
• macOS: tested on M2 chip, OS version 13.2

New feature

●Added support for record and playback, along with the record sample and playback sample.
●Added support for Gemini 335Le.
●Added mesh to point cloud data.
●Added support for upgrading system images over the network for the Femto Mega series.
●Modified the multi-device synchronization sample to support USB devices, GMSL devices such as Gemini 335Lg and Network devices such as Femto Mega.

Improvement

●Updated the D2C filter algorithm to optimize D2C performance.

Fixed issue

●Fixed the issue of depth holes appearing in the Femto Mega series after D2C.
●Fixed the issue where the network configuration enablement in the XML configuration file was not effective.
●Fixed the issue where the Femto Mega series did not support heartbeat.

Supported Devices and Recommended Firmware Version

Supported platforms

• Windows 10 or later: x64 architectures
• Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
• Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX

What's New

● Introduced benchmark tool to test cpu usage.
● Introduced OpenCV sample to Convert video frame data into OpenCV's data structure.
● Introduced PCL sample to convert point clouds into a PCL-supported format.
● Introduced a sample to support upgrading multiple devices simultaneously.
● Align Filter has been changed from adding target image distortion by default to not adding it by default.

● Added new features for Gemini 330 series cameras:

• Support for newly released firmware v1.4.60. Detailed information is in the document Firmware release documents
• Support disparity search offset setting.(requires firmware v1.4.60 or above).
• Support hardware noise removal filter, which helps reduce CPU usage.(requires firmware v1.4.60 or above).
• Support optional depth preset settings and introduced optional depth preset update sample .(requires firmware v1.4.60 or above).
• Introduced a sample for alternating laser with interleave speckle IR image and pure IR image output (requires firmware v1.4.00 or above).

Bug Fixes:

● Optimized noise removal effect of software noise removal filter and spatial noise removal filter.
● Gemini2/2L fix poor D2C.
● Improved the global timestamp fitting scheme. When the device timestamp RTT exceeds the limit, the thread will sleep for one cycle and then retrieve it again instead of exiting the fitting thread.

Supported Devices and Recommended Firmware Version

Supported platforms

• Windows 10 or later: x64 architectures
• Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
• Linux ARM64: tested on NVidia AGX Orin 、 AGX Xavier 、Orin NX

What's New

● frame aggregator optimize, add OB_FRAME_AGGREGATE_OUTPUT_DISABLE mode.
● Add firmware upgrade verification in bootloader mode for Gemini 2/2L.
● Add a multi-device upgrade sample.
● Filter out points with a value of 0 in the point cloud sample.
● Optimize the HDR sample and add laser interleave sample.

Bug Fixes:

● Fix the issue of duplicate resolutions in the G2/2L D2C Depth resolution list.
● Gemini 2L device fix a issue of OrbbecViewer crash when switch depth mode to In-scene Calibration.
● Gemini 330 series: Fix an abnormal timestamp issue in Linux V4L2 Backend.
● Fix the deadlock and crash issues during stress testing of start stream and stop stream.
● fix other issue.

Supported Devices and Recommended Firmware Version

Supported platforms

• Windows 10 or later: x86 and x64 architectures
• Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
• Linux ARM64: tested on NVidia AGX Orin and AGX Xavier

Orbbec SDK Release v2.1.1

What's New

● Added support for Gemini 215 and 210 cameras.
● Add an interface for the Align Filter to set D2C/C2D alignment target Stream Profile. It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
The Usage method is as follows:

auto depth2colorAlign = std::make_shared<ob::Align>(OB_STREAM_COLOR);
//set D2C alignment target Stream Profile
depth2colorAlign->setAlignToStreamProfile(colorProfile);

● Added new features for Gemini 330 series cameras:

• Support for newly released firmware v1.4.00
• Introduced a new function for alternating laser with interleave speckle IR image and pure IR image output (requires firmware v1.4.00 or above).

    // load frame interleave mode as 'Laser On-Off'
    device->loadFrameInterleave("Laser On-Off");
    // enable frame interleave
    device->setBoolProperty(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, true);

• Added SequenceIdFilter for the left and right IR streams in the post-processing module.

• Optimized the Linux V4L2 solution without kernel patch requirements on Ubuntu 20.04 and later systems (requires Gemini 330 firmware v1.4.00 or above).
  The Usage method is as follows:

    // Create a context to access the devices
    std::shared_ptr<ob::Context> context = std::make_shared<ob::Context>();
    context->setUvcBackendType(OB_UVC_BACKEND_TYPE_V4L2);

Bug Fixes:

● Fixed a potential timestamp synchronization failure issue for Gemini 2/2 L devices.
● Fixed timestamp offset calculation errors for Gemini 330/335/336 devices on Linux V4L2.
● Fixed an issue where CPU usage would continuously increase when software D2D was enabled.
● Fixed a bug in the AlignFilter that caused D2C failures when color data was missing.
● Fixed a potential upgrade failure issue by updating the firmware upgrade extension library.
● Fixed a distortion issue that occurred in depth point clouds when hardware D2C was enabled.

API changes

●Add an interface for the Align Filter to set D2C/C2D alignment target Stream Profile (Filter.hpp).

    void setAlignToStreamProfile(std::shared_ptr<const StreamProfile> profile) {
        ob_error *error = nullptr;
        ob_align_filter_set_align_to_stream_profile(impl_, profile->getImpl(), &error);
        Error::handle(&error);
    }

Supported Devices and Recommended Firmware Version

Supported platforms

• Windows 10 or later: x64 architectures
• Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
• Linux ARM64: tested on NVidia AGX Orin and AGX Xavier

Release Notes

Changelog (since v2.0.18）

1. Add 424*266 resolution support of depth for G330 series devices
2. Add 3 samples: firmware update, log setting, metadata
3. Other problem fixes

Release Notes

This is the first stable release of the Orbbec SDK v2. Thanks for your interest in Orbbec! If you have any questions or feedback, please let us know via issues channel.

More information and tutorials are available at the pages of this repository.

Changelog (since v2.0.7-rc）

1. Add support for Orbbec G335Lg (GMSL and USB) cameras.
2. A new metadata transfer and parsing scheme has been implemented for the G330 series over the v4l2 module in Linux. (Firmware v1.3.60 or later required).
3. Firmware update support for G330 series, Gemini2 series, and Astra2.
4. Add performance tuning guides.
5. Other improvements and several bug fixes.

Supported platforms

• Windows 10 or later: x86 and x64 architectures
• Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
• Linux ARM64: tested on AGX Orin and AGX Xavier

Supported devices

Release Notes

• This version primarily introduces support for the Orbbec Gemini 335Lg device.
• Many other optimizations and bug fixes.

Supported Devices

This is a candidate version.

Supported Platforms

• Windows 10 or later: x86 and x64 architectures
• Linux x64: tested on Ubuntu 18.04 and 20.04
• Linux ARM64: tested on NVIDIA Jetson Nano, TX2, and Xavier NX

Supported Devices