update OrbbecSDK version

orbbec_camera/SDK/include/libobsensor/h/Context.h

@@ -162,6 +162,15 @@ OB_EXPORT void ob_unregister_device_changed_callback(ob_context *context, ob_cal
  */
 OB_EXPORT void ob_enable_device_clock_sync(ob_context *context, uint64_t repeat_interval_msec, ob_error **error);
 
+/**
+ * @brief Trigger data acquisition on all devices configured for software synchronization, ensuring they capture data based on the same system time.
+ *
+ * @param[in] context Pointer to the context object
+ * @param[in] softSyncTime The time to synchronize, in microseconds. If the value is 0, synchronization is performed immediately.
+ * @param[out] error Pointer to an error object that will be populated if an error occurs during execution
+ */
+OB_EXPORT void ob_multie_device_soft_sync_capture(ob_context *context, uint64_t softSyncTime, ob_error **error);
+
 /**
  * @brief Free idle memory from the internal frame memory pool
  *

orbbec_camera/SDK/include/libobsensor/h/ObTypes.h

@@ -128,18 +128,20 @@ typedef struct ob_error {
  * @brief Enumeration value describing the sensor type
  */
 typedef enum {
-    OB_SENSOR_UNKNOWN    = 0,  /**< Unknown type sensor */
+    OB_SENSOR_UNKNOWN     = 0,         /**< Unknown type sensor */
-    OB_SENSOR_IR         = 1,  /**< IR */
+    OB_SENSOR_IR          = 1,         /**< IR */
-    OB_SENSOR_COLOR      = 2,  /**< Color */
+    OB_SENSOR_COLOR       = 2,         /**< Color */
-    OB_SENSOR_DEPTH      = 3,  /**< Depth */
+    OB_SENSOR_DEPTH       = 3,         /**< Depth */
-    OB_SENSOR_ACCEL      = 4,  /**< Accel */
+    OB_SENSOR_ACCEL       = 4,         /**< Accel */
-    OB_SENSOR_GYRO       = 5,  /**< Gyro */
+    OB_SENSOR_GYRO        = 5,         /**< Gyro */
-    OB_SENSOR_IR_LEFT    = 6,  /**< left IR for stereo camera*/
+    OB_SENSOR_IR_LEFT     = 6,         /**< left IR for stereo camera*/
-    OB_SENSOR_IR_RIGHT   = 7,  /**< Right IR for stereo camera*/
+    OB_SENSOR_IR_RIGHT    = 7,         /**< Right IR for stereo camera*/
-    OB_SENSOR_RAW_PHASE  = 8,  /**< Raw Phase */
+    OB_SENSOR_RAW_PHASE   = 8,         /**< Raw Phase */
-    OB_SENSOR_CONFIDENCE = 9,  /**< Confidence */
+    OB_SENSOR_CONFIDENCE  = 9,         /**< Confidence */
-    OB_SENSOR_LIDAR      = 10, /**< LiDAR */
+    OB_SENSOR_LIDAR       = 10,        /**< LiDAR */
-    OB_SENSOR_TYPE_COUNT,      /**The total number of sensor types, is not a valid sensor type */
+    OB_SENSOR_COLOR_LEFT  = 11,        /**< Left Color */
+    OB_SENSOR_COLOR_RIGHT = 12,        /**< Right Color */
+    OB_SENSOR_TYPE_COUNT,              /**The total number of sensor types, is not a valid sensor type */
 } OBSensorType,
     ob_sensor_type;
 
@@ -147,19 +149,21 @@ typedef enum {
  * @brief Enumeration value describing the type of data stream
  */
 typedef enum {
-    OB_STREAM_UNKNOWN    = -1, /**< Unknown type stream */
+    OB_STREAM_UNKNOWN     = -1,        /**< Unknown type stream */
-    OB_STREAM_VIDEO      = 0,  /**< Video stream (infrared, color, depth streams are all video streams) */
+    OB_STREAM_VIDEO       = 0,         /**< Video stream (infrared, color, depth streams are all video streams) */
-    OB_STREAM_IR         = 1,  /**< IR stream */
+    OB_STREAM_IR          = 1,         /**< IR stream */
-    OB_STREAM_COLOR      = 2,  /**< color stream */
+    OB_STREAM_COLOR       = 2,         /**< color stream */
-    OB_STREAM_DEPTH      = 3,  /**< depth stream */
+    OB_STREAM_DEPTH       = 3,         /**< depth stream */
-    OB_STREAM_ACCEL      = 4,  /**< Accelerometer data stream */
+    OB_STREAM_ACCEL       = 4,         /**< Accelerometer data stream */
-    OB_STREAM_GYRO       = 5,  /**< Gyroscope data stream */
+    OB_STREAM_GYRO        = 5,         /**< Gyroscope data stream */
-    OB_STREAM_IR_LEFT    = 6,  /**< Left IR stream for stereo camera */
+    OB_STREAM_IR_LEFT     = 6,         /**< Left IR stream for stereo camera */
-    OB_STREAM_IR_RIGHT   = 7,  /**< Right IR stream for stereo camera */
+    OB_STREAM_IR_RIGHT    = 7,         /**< Right IR stream for stereo camera */
-    OB_STREAM_RAW_PHASE  = 8,  /**< RawPhase Stream */
+    OB_STREAM_RAW_PHASE   = 8,         /**< RawPhase Stream */
-    OB_STREAM_CONFIDENCE = 9,  /**< Confidence Stream*/
+    OB_STREAM_CONFIDENCE  = 9,         /**< Confidence Stream*/
-    OB_STREAM_LIDAR      = 10, /**< LiDAR Stream for LiDAR device*/
+    OB_STREAM_LIDAR       = 10,        /**< LiDAR Stream for LiDAR device*/
-    OB_STREAM_TYPE_COUNT,      /**< The total number of stream type,is not a valid stream type */
+    OB_STREAM_COLOR_LEFT  = 11,        /**< Left Color stream */
+    OB_STREAM_COLOR_RIGHT = 12,        /**< Right Color stream */
+    OB_STREAM_TYPE_COUNT,              /**< The total number of stream type,is not a valid stream type */
 } OBStreamType,
     ob_stream_type;
 
@@ -167,21 +171,23 @@ typedef enum {
  * @brief Enumeration value describing the type of frame
  */
 typedef enum {
-    OB_FRAME_UNKNOWN      = -1, /**< Unknown frame type */
+    OB_FRAME_UNKNOWN      = -1,       /**< Unknown frame type */
-    OB_FRAME_VIDEO        = 0,  /**< Video frame */
+    OB_FRAME_VIDEO        = 0,        /**< Video frame */
-    OB_FRAME_IR           = 1,  /**< IR frame */
+    OB_FRAME_IR           = 1,        /**< IR frame */
-    OB_FRAME_COLOR        = 2,  /**< Color frame */
+    OB_FRAME_COLOR        = 2,        /**< Color frame */
-    OB_FRAME_DEPTH        = 3,  /**< Depth frame */
+    OB_FRAME_DEPTH        = 3,        /**< Depth frame */
-    OB_FRAME_ACCEL        = 4,  /**< Accelerometer data frame */
+    OB_FRAME_ACCEL        = 4,        /**< Accelerometer data frame */
-    OB_FRAME_SET          = 5,  /**< Frame collection (internally contains a variety of data frames) */
+    OB_FRAME_SET          = 5,        /**< Frame collection (internally contains a variety of data frames) */
-    OB_FRAME_POINTS       = 6,  /**< Point cloud frame */
+    OB_FRAME_POINTS       = 6,        /**< Point cloud frame */
-    OB_FRAME_GYRO         = 7,  /**< Gyroscope data frame */
+    OB_FRAME_GYRO         = 7,        /**< Gyroscope data frame */
-    OB_FRAME_IR_LEFT      = 8,  /**< Left IR frame for stereo camera */
+    OB_FRAME_IR_LEFT      = 8,        /**< Left IR frame for stereo camera */
-    OB_FRAME_IR_RIGHT     = 9,  /**< Right IR frame for stereo camera */
+    OB_FRAME_IR_RIGHT     = 9,        /**< Right IR frame for stereo camera */
-    OB_FRAME_RAW_PHASE    = 10, /**< Raw Phase frame*/
+    OB_FRAME_RAW_PHASE    = 10,       /**< Raw Phase frame*/
-    OB_FRAME_CONFIDENCE   = 11, /**< Confidence frame*/
+    OB_FRAME_CONFIDENCE   = 11,       /**< Confidence frame*/
-    OB_FRAME_LIDAR_POINTS = 12, /**< LiDAR point3d cloud frame*/
+    OB_FRAME_LIDAR_POINTS = 12,       /**< LiDAR point3d cloud frame*/
-    OB_FRAME_TYPE_COUNT,        /**< The total number of frame types, is not a valid frame type */
+    OB_FRAME_COLOR_LEFT   = 13,       /**< Left Color frame */
+    OB_FRAME_COLOR_RIGHT  = 14,       /**< Right Color frame */
+    OB_FRAME_TYPE_COUNT,              /**< The total number of frame types, is not a valid frame type */
 } OBFrameType,
     ob_frame_type;
 
@@ -1376,6 +1382,10 @@ typedef enum {
      */
     OB_MULTI_DEVICE_SYNC_MODE_IR_IMU_SYNC = 1 << 7,
 
+    /**
+     * @brief The device captures data in software synchronization mode, starting acquisition based on the system time.
+     */
+    OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_SYNCED = 1 << 8,
 } ob_multi_device_sync_mode,
     OBMultiDeviceSyncMode;
 
@@ -1551,6 +1561,15 @@ typedef struct {
     uint8_t reserved;
 } OBDispOffsetConfig, ob_disp_offset_config;
 
+/**
+ * @details Defines the original resolution and scaling factor for down-sampling.
+ */
+typedef struct {
+    uint32_t originWidth;
+    uint32_t originHeight;
+    uint32_t scaleFactor;
+} OBDownSampleConfig, ob_down_sample_config;
+
 /**
  * @brief Frame metadata types
  * @brief The frame metadata is a set of meta info generated by the device for current individual frame.
@@ -1939,9 +1958,9 @@ typedef uint64_t OBCallbackId, ob_callback_id;
  * @param[in] sensor_type Sensor type to check
  * @return True if sensor_type is a video sensor, false otherwise
  */
-#define ob_is_video_sensor_type(sensor_type)                                                                                             \
+#define ob_is_video_sensor_type(sensor_type)                                                                                                         \
-    (sensor_type == OB_SENSOR_COLOR || sensor_type == OB_SENSOR_DEPTH || sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT \
+    (sensor_type == OB_SENSOR_COLOR || sensor_type == OB_SENSOR_COLOR_LEFT || sensor_type == OB_SENSOR_COLOR_RIGHT || sensor_type == OB_SENSOR_DEPTH \
-     || sensor_type == OB_SENSOR_IR_RIGHT || sensor_type == OB_SENSOR_CONFIDENCE)
+     || sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT || sensor_type == OB_SENSOR_IR_RIGHT || sensor_type == OB_SENSOR_CONFIDENCE)
 
 /**
  * @brief check if the stream_type is a video stream
@@ -1949,9 +1968,10 @@ typedef uint64_t OBCallbackId, ob_callback_id;
  * @param[in] stream_type Stream type to check
  * @return True if stream_type is a video stream, false otherwise
  */
-#define ob_is_video_stream_type(stream_type)                                                                                             \
+#define ob_is_video_stream_type(stream_type)                                                                                                         \
-    (stream_type == OB_STREAM_COLOR || stream_type == OB_STREAM_DEPTH || stream_type == OB_STREAM_IR || stream_type == OB_STREAM_IR_LEFT \
+    (stream_type == OB_STREAM_COLOR || stream_type == OB_STREAM_COLOR_LEFT || stream_type == OB_STREAM_COLOR_RIGHT || stream_type == OB_STREAM_DEPTH \
-     || stream_type == OB_STREAM_IR_RIGHT || stream_type == OB_STREAM_VIDEO || stream_type == OB_STREAM_CONFIDENCE)
+     || stream_type == OB_STREAM_IR || stream_type == OB_STREAM_IR_LEFT || stream_type == OB_STREAM_IR_RIGHT || stream_type == OB_STREAM_VIDEO       \
+     || stream_type == OB_STREAM_CONFIDENCE)
 
 /**
  * @brief Check if sensor_type is an IR sensor
@@ -1962,6 +1982,15 @@ typedef uint64_t OBCallbackId, ob_callback_id;
 #define is_ir_sensor(sensor_type) (sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT || sensor_type == OB_SENSOR_IR_RIGHT)
 #define isIRSensor is_ir_sensor
 
+/**
+ * @brief Check if sensor_type is an Color sensor
+ *
+ * @param sensor_type Sensor type to check
+ * @return True if sensor_type is an Color sensor, false otherwise
+ */
+#define is_color_sensor(sensor_type) (sensor_type == OB_SENSOR_COLOR || sensor_type == OB_SENSOR_COLOR_LEFT || sensor_type == OB_SENSOR_COLOR_RIGHT)
+#define isColorSensor is_color_sensor
+
 /**
  * @brief Check if stream_type is an IR stream
  *
@@ -1971,6 +2000,15 @@ typedef uint64_t OBCallbackId, ob_callback_id;
 #define is_ir_stream(stream_type) (stream_type == OB_STREAM_IR || stream_type == OB_STREAM_IR_LEFT || stream_type == OB_STREAM_IR_RIGHT)
 #define isIRStream is_ir_stream
 
+/**
+ * @brief Check if stream_type is an Color stream
+ *
+ * @param stream_type Stream type to check
+ * @return True if stream_type is an Color stream, false otherwise
+ */
+#define is_color_stream(stream_type) (stream_type == OB_STREAM_COLOR || stream_type == OB_STREAM_COLOR_LEFT || stream_type == OB_STREAM_COLOR_RIGHT)
+#define isColorStream is_color_stream
+
 /**
  * @brief Check if frame_type is an IR frame
  *
@@ -1980,6 +2018,15 @@ typedef uint64_t OBCallbackId, ob_callback_id;
 #define is_ir_frame(frame_type) (frame_type == OB_FRAME_IR || frame_type == OB_FRAME_IR_LEFT || frame_type == OB_FRAME_IR_RIGHT)
 #define isIRFrame is_ir_frame
 
+/**
+ * @brief Check if frame_type is an Color frame
+ *
+ * @param frame_type Frame type to check
+ * @return True if frame_type is an Color frame, false otherwise
+ */
+#define is_color_frame(frame_type) (frame_type == OB_FRAME_COLOR || frame_type == OB_FRAME_COLOR_LEFT || frame_type == OB_FRAME_COLOR_RIGHT)
+#define isColorFrame is_color_frame
+
 /**
  * @brief The default Decrypt Key
  */

orbbec_camera/SDK/include/libobsensor/h/Pipeline.h

@@ -224,6 +224,21 @@ OB_EXPORT void ob_config_enable_stream_with_stream_profile(ob_config *config, co
 OB_EXPORT void ob_config_enable_video_stream(ob_config *config, ob_stream_type stream_type, uint32_t width, uint32_t height, uint32_t fps, ob_format format,
                                              ob_error **error);
 
+/**
+ * @brief Enable a video stream using a down-sample configuration.
+ *
+ * @attention The stream_type should be a video stream type, such as OB_STREAM_IR, OB_STREAM_DEPTH, etc.
+ *
+ * @param[in] config The pipeline configuration object
+ * @param[in] stream_type The type of the stream to be enabled
+ * @param[in] down_sample_config The down-sample configuration for the stream
+ * @param[in] fps The frame rate of the video stream
+ * @param[in] format The format of the video stream
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ */
+OB_EXPORT void ob_config_enable_video_stream_by_down_sample_config(ob_config *config, ob_stream_type stream_type, ob_down_sample_config down_sample_config,
+                                                                   uint32_t fps, ob_format format, ob_error **error);
+
 /**
  * @brief Enable accelerometer stream with specified parameters
  *

orbbec_camera/SDK/include/libobsensor/h/Property.h

@@ -463,7 +463,7 @@ typedef enum {
      */
     OB_PROP_DISP_SEARCH_OFFSET_INT = 196,
 
-     /**
+    /**
      * @brief cpu temperature correction . true: calibrate temperature
      */
     OB_PROP_CPU_TEMPERATURE_CALIBRATION_BOOL = 199,
@@ -556,11 +556,53 @@ typedef enum {
      */
     OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT = 236,
 
+    /**
+     * @brief Right Color sensor rotation, angle{0, 90, 180, 270}
+     */
+    OB_PROP_COLOR_RIGHT_ROTATE_INT = 242,
+
+    /**
+     * @brief Right Color mirror
+     */
+    OB_PROP_COLOR_RIGHT_MIRROR_BOOL = 243,
+
+    /**
+     * @brief Right Color flip
+     */
+    OB_PROP_COLOR_RIGHT_FLIP_BOOL = 244,
+
+    /**
+     * @brief Color AE mode
+     * - 0: Depth based
+     * - 1: Color based
+     */
+    OB_PROP_COLOR_AE_MODE_INT = 247,
+    
+    /**
+     * @brief COLOR FAST AE
+     */
+    OB_PROP_COLOR_FAST_AE_BOOL = 248,
+
     /**
      * @brief Color camera ROI brightness adjustment
      */
     OB_PROP_COLOR_ROI_BRIGHTNESS_INT = 249,
 
+    /**
+     * @brief Left Color sensor rotation, angle{0, 90, 180, 270}
+     */
+    OB_PROP_COLOR_LEFT_ROTATE_INT = 251,
+
+    /**
+     * @brief Left Color mirror
+     */
+    OB_PROP_COLOR_LEFT_MIRROR_BOOL = 252,
+
+    /**
+     * @brief Left Color flip
+     */
+    OB_PROP_COLOR_LEFT_FLIP_BOOL = 253,
+
     /**
      * @brief Baseline calibration parameters
      */
@@ -655,6 +697,11 @@ typedef enum {
      */
     OB_STRUCT_PRESET_RESOLUTION_CONFIG = 1069,
 
+    /**
+     * @brief Color sensor synchronized exposure parameter structure
+     */
+    OB_STRUCT_COLOR_SYNCED_EXPOSURE_PARAM = 1077,
+
     /**
      * @brief Color camera auto exposure
      */
@@ -957,7 +1004,7 @@ typedef enum {
     OB_PROP_LIDAR_WARNING_INFO_INT = 8012,
 
     /**
-     * @brief LiDAR: get realtime motor spin speed, unit:0.01rpm 
+     * @brief LiDAR: get realtime motor spin speed, unit:0.01rpm
      */
     OB_PROP_LIDAR_MOTOR_SPIN_SPEED_INT = 8013,
 
@@ -979,7 +1026,7 @@ typedef enum {
     /**
      * @brief LiDAR: get/set repetitive scan mode
      */
-    OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT = 8017,
+    OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT = 8017
 } OBPropertyID,
     ob_property_id;
 

orbbec_camera/SDK/include/libobsensor/h/StreamProfile.h

@@ -247,6 +247,16 @@ OB_EXPORT void ob_video_stream_profile_set_intrinsic(ob_stream_profile *profile,
  */
 OB_EXPORT ob_camera_distortion ob_video_stream_profile_get_distortion(const ob_stream_profile *profile, ob_error **error);
 
+/**
+ * @brief Get the down-sampling configuration of the video stream profile.
+ *
+ * @param[in]  profile  Stream profile object.
+ * @param[out] error    Pointer to an error object that will be set if an error occurs.
+ *
+ * @return ob_down_sample_config  The down-sampling configuration of the stream.
+ */
+OB_EXPORT ob_down_sample_config ob_video_stream_profile_get_down_sample_config(const ob_stream_profile *profile, ob_error **error);
+
 /**
  * @brief Set the distortion of the video stream profile
  *
@@ -403,6 +413,24 @@ OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_profile(const ob_stream_
 OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_video_stream_profile(const ob_stream_profile_list *profile_list, int width, int height,
                                                                              ob_format format, int fps, ob_error **error);
 
+/**
+ * @brief Match the corresponding ob_stream_profile based on the provided down-sampling configuration.If multiple profiles match, the first profile in the list
+ * is returned by default. If no matched profile is found, an error will be returned.
+ *
+ * @attention The stream profile returned by this function should be released with @ref ob_delete_stream_profile() when it is no longer needed.
+ *
+ * @param[in] profile_list        The list of stream profiles.
+ * @param[in] down_sample_config  Down-sampling configuration. The actual resolution is determined by original resolution and the scale factor.
+ * @param[in] format              Stream format. If no matching condition is required, pass OB_FORMAT_ANY.
+ * @param[in] fps                 Frame rate. If no matching condition is required, pass OB_FPS_ANY.
+ * @param[out] error              Pointer to an error object that will be set if an error occurs.
+ *
+ * @return The matched stream profile.
+ */
+OB_EXPORT ob_stream_profile *ob_stream_profile_list_get_video_stream_profile_by_down_sample_config(const ob_stream_profile_list *profile_list,
+                                                                                                   ob_down_sample_config down_sample_config, ob_format format,
+                                                                                                   int fps, ob_error **error);
+
 /**
  * @brief Match the corresponding ob_stream_profile through the passed parameters. If there are multiple matches,
  * the first one in the list will be returned by default. If no matched profile is found, an error will be returned.

orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp

@@ -205,6 +205,17 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Trigger data acquisition on all devices configured for software synchronization, ensuring they capture data based on the same system time.
+     *
+     * @param[in] softSyncTime The time to synchronize, in microseconds. If the value is 0, synchronization is performed immediately.
+     */
+    void setMultieDeviceSoftSyncTimeCapture(uint64_t softSyncTime) const {
+        ob_error *error = nullptr;
+        ob_multie_device_soft_sync_capture(impl_, softSyncTime, &error);
+        Error::handle(&error);
+    }
+
     /**
      * @brief Frees idle memory from the internal frame memory pool.
      * @brief The SDK includes an internal frame memory pool that caches memory allocated for frames received from devices.

orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp

@@ -1293,6 +1293,8 @@ template <typename T> bool Frame::is() const {
     case OB_FRAME_DEPTH:
         return (typeid(T) == typeid(DepthFrame) || typeid(T) == typeid(VideoFrame));
     case OB_FRAME_COLOR:
+    case OB_FRAME_COLOR_LEFT:
+    case OB_FRAME_COLOR_RIGHT:
         return (typeid(T) == typeid(ColorFrame) || typeid(T) == typeid(VideoFrame));
     case OB_FRAME_CONFIDENCE:
         return (typeid(T) == typeid(ConfidenceFrame) || typeid(T) == typeid(VideoFrame));

orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp

@@ -124,6 +124,22 @@ public:
         enableVideoStream(streamType, width, height, fps, format);
     }
 
+    /**
+     * @brief Enable a video stream to be used in the pipeline with down-sample configuration.
+     * @brief Will convert sensor type to stream type automatically.
+     *
+     * @param[in] sensorType The sensor type to be enabled.
+     * @param[in] downSampleConfig The down-sample configuration for this stream.
+     * @param[in] fps The video stream frame rate (default is OB_FPS_ANY, which selects the default frame rate).
+     * @param[in] format The video stream format (default is OB_FORMAT_ANY, which selects the default format).
+     */
+    void enableVideoStream(OBSensorType sensorType, OBDownSampleConfig downSampleConfig, uint32_t fps = OB_FPS_ANY, OBFormat format = OB_FORMAT_ANY) const {
+        auto      streamType = ob::TypeHelper::convertSensorTypeToStreamType(sensorType);
+        ob_error *error      = nullptr;
+        ob_config_enable_video_stream_by_down_sample_config(impl_, streamType, downSampleConfig, fps, format, &error);
+        Error::handle(&error);
+    }
+
     /**
      * @brief Enable an accelerometer stream to be used in the pipeline.
      *

orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp

@@ -254,6 +254,19 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Get the down-sampling configuration of the stream.
+     * @brief Includes original resolution and scale factor.
+     *
+     * @return OBDownSampleConfig Return the down-sampling configuration.
+     */
+    OBDownSampleConfig getDownSampleConfig() const {
+        ob_error *error            = nullptr;
+        auto      downSampleConfig = ob_video_stream_profile_get_down_sample_config(const_cast<ob_stream_profile_t *>(impl_), &error);
+        Error::handle(&error);
+        return downSampleConfig;
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     uint32_t fps() const {
@@ -406,6 +419,8 @@ template <typename T> bool StreamProfile::is() const {
     case OB_STREAM_IR_LEFT:
     case OB_STREAM_IR_RIGHT:
     case OB_STREAM_COLOR:
+    case OB_STREAM_COLOR_LEFT:
+    case OB_STREAM_COLOR_RIGHT:
     case OB_STREAM_DEPTH:
     case OB_STREAM_RAW_PHASE:
     case OB_STREAM_CONFIDENCE:
@@ -434,6 +449,8 @@ public:
         case OB_STREAM_IR_RIGHT:
         case OB_STREAM_DEPTH:
         case OB_STREAM_COLOR:
+        case OB_STREAM_COLOR_LEFT:
+        case OB_STREAM_COLOR_RIGHT:
         case OB_STREAM_VIDEO:
         case OB_STREAM_CONFIDENCE:
             return std::make_shared<VideoStreamProfile>(impl);
@@ -511,6 +528,25 @@ public:
         return vsp->as<VideoStreamProfile>();
     }
 
+    /**
+     * @brief Match the corresponding video stream profile according to the down-sampling configuration.If multiple profiles match, the first one in the list is
+     * returned. Throws an exception when no matching profile is found.
+     *
+     * @param[in] downSampleConfig Down-sampling configuration. The actual resolution is computed fromthe original resolution and scale factor.
+     * @param[in] format Stream format. Pass OB_FORMAT_ANY if no matching condition is required.
+     * @param[in] fps Frame rate. Pass OB_FPS_ANY if no matching condition is required.
+     *
+     * @return std::shared_ptr<VideoStreamProfile> Return the matched video stream profile.
+     */
+    std::shared_ptr<VideoStreamProfile> getVideoStreamProfile(OBDownSampleConfig downSampleConfig, OBFormat format = OB_FORMAT_ANY,
+                                                              int fps = OB_FPS_ANY) const {
+        ob_error *error   = nullptr;
+        auto      profile = ob_stream_profile_list_get_video_stream_profile_by_down_sample_config(impl_, downSampleConfig, format, fps, &error);
+        Error::handle(&error);
+        auto vsp = StreamProfileFactory::create(profile);
+        return vsp->as<VideoStreamProfile>();
+    }
+
     /**
      * @brief Match the corresponding accelerometer stream profile based on the passed-in parameters. If multiple Match are found, the first one in the list
      * is returned by default. Throws an exception if no matching profile is found.

orbbec_camera/SDK/include/libobsensor/hpp/TypeHelper.hpp

@@ -127,6 +127,8 @@ public:
      * @brief Video sensors are sensors that produce video frames.
      * @brief The following sensor types are considered video sensors:
      *      OB_SENSOR_COLOR,
+     *      OB_SENSOR_COLOR_LEFT,
+     *      OB_SENSOR_COLOR_RIGHT,
      *      OB_SENSOR_DEPTH,
      *      OB_SENSOR_IR,
      *      OB_SENSOR_IR_LEFT,
@@ -148,6 +150,8 @@ public:
      *      OB_STREAM_VIDEO,
      *      OB_STREAM_DEPTH,
      *      OB_STREAM_COLOR,
+     *      OB_STREAM_COLOR_LEFT,
+     *      OB_STREAM_COLOR_RIGHT,
      *      OB_STREAM_IR,
      *      OB_STREAM_IR_LEFT,
      *      OB_STREAM_IR_RIGHT,

orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.3"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.2"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.3" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.2" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/arm64/OrbbecSDKVersion.cmake

@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.6.3")
+set(PACKAGE_VERSION "2.6.2")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.6.3" MATCHES "^([0-9]+)\\.")
+  if("2.6.2" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.6.3")
+    set(CVF_VERSION_MAJOR "2.6.2")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.6.3
+libOrbbecSDK.so.2.6.2

orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.3"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.2"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.3" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.6.2" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/x64/OrbbecSDKVersion.cmake

@@ -9,19 +9,19 @@
 # The variable CVF_VERSION must be set before calling configure_file().
 
 
-set(PACKAGE_VERSION "2.6.3")
+set(PACKAGE_VERSION "2.6.2")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.6.3" MATCHES "^([0-9]+)\\.")
+  if("2.6.2" MATCHES "^([0-9]+)\\.")
     set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
     if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
       string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
     endif()
   else()
-    set(CVF_VERSION_MAJOR "2.6.3")
+    set(CVF_VERSION_MAJOR "2.6.2")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.6.3
+libOrbbecSDK.so.2.6.2

orbbec_camera/config/OrbbecSDKConfig_v2.0.xml

@@ -76,6 +76,93 @@
         system's capabilities and the device's speciality. -->
         <LinuxUVCBackend>Auto</LinuxUVCBackend>
 
+        <!-- Gemini305 config -->
+        <Gemini305>
+            <!-- Default backend for Linux UVC devices. If the LinuxUVCBackend is set to "Auto,"
+            this item will determine the device's speciality. Optional values: V4L2, LibUVC -->
+            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
+
+            <Misc>
+                <GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
+                <!-- Global timestamp fitter refresh interval, unit: milliseconds, default value:
+                1000,
+                minimum value: 100, it is recommended not to be greater than 1000 -->
+                <GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
+                <!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
+                <GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
+            </Misc>
+
+            <DepthPostProcessing>
+                <HardwareNoiseRemoveFilter>true</HardwareNoiseRemoveFilter>
+                <SoftwareNoiseRemoveFilter>false</SoftwareNoiseRemoveFilter>
+            </DepthPostProcessing>
+
+            <!-- Whether to enable heartbeat by default -->
+            <DefaultHeartBeat>0</DefaultHeartBeat>
+            <!-- Whether to enable firmware upgrade foolproof by default, only internal version
+            supports -->
+            <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
+
+            <!--  Depth Filter Params -->
+            <!--
+            <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
+			 -->
+            <Depth>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y16</Format>
+            </Depth>
+            <Color>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>YUYV</Format>
+            </Color>
+            <LeftColor>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>YUYV</Format>
+            </LeftColor>
+            <RightColor>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>YUYV</Format>
+            </RightColor>
+            <LeftIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </LeftIR>
+            <RightIR>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>1280</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>800</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </RightIR>
+        </Gemini305>
+
         <FemtoMega>
             <!-- For Femto-Mega devices, it must be set to V4L2, LibUVC is not supported -->
             <LinuxUVCDefaultBackend>V4L2</LinuxUVCDefaultBackend>