update OrbbecSDK version to 2.8.7

orbbec_camera/SDK/include/libobsensor/h/Advanced.h

@@ -226,9 +226,10 @@ OB_EXPORT bool ob_device_preset_list_has_preset(const ob_device_preset_list *pre
  * @return bool Returns true if the device supports the frame interleave feature.
  */
 OB_EXPORT bool ob_device_is_frame_interleave_supported(const ob_device *device, ob_error **error);
+
 /**
  *
- * @brief load the frame interleave mode according to frame interleavee name.
+ * @brief load the frame interleave mode according to frame interleave name.
  *
  * @param[in] device The device object.
  * @param[in] frame_interleave_name The name should be one of the frame interleave names returned by @ref ob_device_get_available_frame_interleave_list.
@@ -236,6 +237,19 @@ OB_EXPORT bool ob_device_is_frame_interleave_supported(const ob_device *device,
  */
 OB_EXPORT void ob_device_load_frame_interleave(ob_device *device, const char *frame_interleave_name, ob_error **error);
 
+/**
+ *
+ * @brief Get current frame interleave name.
+ *
+ * @param[in] device The device object.
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ *
+ * @return const char* return the current frame interleave name.
+ *         Returns an empty string ("") if no interleave is loaded.
+ *         Returns nullptr if an error occurs.
+ */
+OB_EXPORT const char *ob_device_get_current_frame_interleave_name(const ob_device *device, ob_error **error);
+
 /**
  * @brief Get the available frame interleave list.
  *

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

@@ -281,6 +281,30 @@ OB_EXPORT void ob_log_external_message(ob_log_severity severity, const char *mod
  */
 OB_EXPORT void ob_set_extensions_directory(const char *directory, ob_error **error);
 
+
+/**
+ * @brief Set the host-side timestamp clock type for the current context.
+ *
+ * @attention All ob::Context instances share the same underlying SDK runtime and clock type.
+ * @attention Switching affects frame system and global timestamps; avoid switching during streaming.
+ * @attention It is recommended to synchronize device timestamps after switching.
+ *
+ * @param[in] context Pointer to the context object
+ * @param[in] clock_type The clock type to use for host-side timestamps
+ * @param[out] error Pointer to an error object that will be populated if an error occurs
+ */
+OB_EXPORT void ob_context_set_timestamp_clock_type(ob_context *context, ob_clock_type clock_type, ob_error **error);
+
+/**
+ * @brief Get the current host-side timestamp clock type for the context.
+ *
+ * @param[in] context Pointer to the context object
+ * @param[out] error Pointer to an error object that will be populated if an error occurs
+ *
+ * @return ob_clock_type The current clock type
+ */
+OB_EXPORT ob_clock_type ob_context_get_timestamp_clock_type(const ob_context *context, ob_error **error);
+
 // The following interfaces are deprecated and are retained here for compatibility purposes.
 #define ob_enable_multi_device_sync ob_enable_device_clock_sync
 #define ob_set_logger_callback ob_set_logger_to_callback

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

@@ -2030,6 +2030,15 @@ typedef enum {
 } ob_ip_source_type,
     OBIpSourceType;
 
+/**
+ * @brief Host-side timestamp clock type for device.
+ */
+typedef enum {
+    OB_CLOCK_TYPE_REALTIME  = 0, /**< Wall clock (system_clock), epoch-based. Default. */
+    OB_CLOCK_TYPE_MONOTONIC = 1, /**< System monotonic clock, non-epoch. */
+} OBClockType,
+    ob_clock_type;
+
 /**
  * @brief Callback for file transfer
  *

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

@@ -85,6 +85,33 @@ public:
         Error::handle(&error, false);
     }
 
+    /**
+     * @brief Set the host-side timestamp clock type for the current context.
+     *
+     * @attention All ob::Context instances share the same underlying SDK runtime and clock type.
+     * @attention Switching affects frame system and global timestamps; avoid switching during streaming.
+     * @attention It is recommended to synchronize device timestamps after switching.
+     *
+     * @param[in] type The clock type to use for host-side timestamps.
+     */
+    void setTimestampClockType(OBClockType type) const {
+        ob_error *error = nullptr;
+        ob_context_set_timestamp_clock_type(impl_, type, &error);
+        Error::handle(&error);
+    }
+
+    /**
+     * @brief Get the current host-side timestamp clock type for the context.
+     *
+     * @return OBClockType The current clock type.
+     */
+    OBClockType getTimestampClockType() const {
+        ob_error *error = nullptr;
+        auto      type  = ob_context_get_timestamp_clock_type(impl_, &error);
+        Error::handle(&error);
+        return type;
+    }
+
     /**
      * @brief Queries the enumerated device list.
      *

orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp

@@ -839,6 +839,24 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     *
+     * @brief Get current frame interleave name.
+     *
+     * @param[in] device The device object.
+     * @param[out] error Pointer to an error object that will be set if an error occurs.
+     *
+     * @return const char* return the current frame interleave name.
+     *         Returns an empty string ("") if no interleave is loaded.
+     *         Returns nullptr if an error occurs.
+     */
+    OB_EXPORT const char *getCurrentFrameInterleaveName() const {
+        ob_error *error = nullptr;
+        auto      name  = ob_device_get_current_frame_interleave_name(impl_, &error);
+        Error::handle(&error);
+        return name;
+    }
+
     /**
      * @brief Get available frame interleave list
      *

orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp

@@ -481,6 +481,97 @@ public:
     }
 };
 
+/**
+ * @brief UnDistortionFilter removes lens distortion from a chosen stream (Color, IR, or Depth).
+ *
+ * Usage (pure color undistortion, sync_align scenario):
+ * @code
+ *   auto filter = std::make_shared<ob::UnDistortionFilter>();
+ *   // default stream type is COLOR, default mode is pure undistortion
+ *   filter->pushFrame(frameSet);
+ * @endcode
+ *
+ * Usage (virtual-camera mode, hw_d2c_align scenario):
+ * @code
+ *   auto filter = std::make_shared<ob::UnDistortionFilter>();
+ *   // Pass the raw depth intrinsic — filter computes the scale to color resolution internally.
+ *   filter->setNewCameraMatrix(depthIntrinsic);
+ *   filter->pushFrame(frameSet);
+ * @endcode
+ *
+ * Usage (depth undistortion — must use nearest-neighbor interpolation):
+ * @code
+ *   auto filter = std::make_shared<ob::UnDistortionFilter>(OB_STREAM_DEPTH);
+ *   filter->setInterpolationMode(0);  // nearest neighbor avoids ghost-depth artefacts
+ * @endcode
+ */
+class UnDistortionFilter : public Filter {
+public:
+    explicit UnDistortionFilter(OBStreamType streamType = OB_STREAM_COLOR) {
+        ob_error *error = nullptr;
+        auto      impl  = ob_create_filter("UnDistortionFilter", &error);
+        Error::handle(&error);
+        init(impl);
+        setConfigValue("StreamType", static_cast<double>(streamType));
+    }
+
+    virtual ~UnDistortionFilter() noexcept override = default;
+
+    /**
+     * @brief Set which stream to undistort (default: OB_STREAM_COLOR).
+     *        For depth streams, also call setInterpolationMode(0).
+     */
+    void setStreamType(OBStreamType streamType) {
+        setConfigValue("StreamType", static_cast<double>(streamType));
+    }
+
+    OBStreamType getStreamType() const {
+        return static_cast<OBStreamType>(static_cast<int>(getConfigValue("StreamType")));
+    }
+
+    /**
+     * @brief Set the new camera matrix used to project the undistorted image
+     *        (equivalent to OpenCV's `newCameraMatrix` argument in
+     *        `cv::undistort(src, dst, cameraMatrix, distCoeffs, newCameraMatrix)`).
+     *
+     * Pass the raw depth camera intrinsic.  The filter scales fx/fy/cx/cy from
+     * the depth resolution to the actual color frame resolution at process time,
+     * so the caller does NOT need to compute the scale factor.
+     *
+     * The new-camera-matrix mode is enabled as long as depthIntrinsic.width > 0.
+     * Call clearNewCameraMatrix() to return to pure undistortion.
+     *
+     * @param depthIntrinsic  The depth camera intrinsic at its native resolution.
+     */
+    void setNewCameraMatrix(OBCameraIntrinsic depthIntrinsic) {
+        setConfigValue("NewCameraFx",     static_cast<double>(depthIntrinsic.fx));
+        setConfigValue("NewCameraFy",     static_cast<double>(depthIntrinsic.fy));
+        setConfigValue("NewCameraCx",     static_cast<double>(depthIntrinsic.cx));
+        setConfigValue("NewCameraCy",     static_cast<double>(depthIntrinsic.cy));
+        setConfigValue("NewCameraWidth",  static_cast<double>(depthIntrinsic.width));
+        setConfigValue("NewCameraHeight", static_cast<double>(depthIntrinsic.height));
+    }
+
+    /**
+     * @brief Clear the new camera matrix and return to pure undistortion.
+     */
+    void clearNewCameraMatrix() {
+        setConfigValue("NewCameraWidth", 0.0);
+    }
+
+    /**
+     * @brief Set the pixel interpolation mode.
+     * @param mode 0 = nearest-neighbor (required for depth), 1 = bilinear (default).
+     */
+    void setInterpolationMode(int mode) {
+        setConfigValue("InterpolationMode", static_cast<double>(mode));
+    }
+
+    int getInterpolationMode() const {
+        return static_cast<int>(getConfigValue("InterpolationMode"));
+    }
+};
+
 /**
  * @brief The FormatConvertFilter class is a subclass of Filter that performs format conversion.
  */
@@ -1380,6 +1471,23 @@ public:
         return range;
     }
 
+    /**
+     * @brief Get the FalsePositive filter fpebfMinBleedLength range.
+     *
+     * @return OBUint16PropertyRange the fpebfMinBleedLength value of property range.
+     */
+    OBUint16PropertyRange getfpebfMinBleedLengthRange() {
+        OBUint16PropertyRange range{};
+        const auto           &schemaVec = getConfigSchemaVec();
+        for(const auto &item: schemaVec) {
+            if(strcmp(item.name, "fpebfMinBleedLength") == 0) {
+                range = getPropertyRange<OBUint16PropertyRange>(item, getConfigValue("fpebfMinBleedLength"));
+                break;
+            }
+        }
+        return range;
+    }
+
     /**
      * @brief Get the FalsePositive filter fpTextureSparsityFilterEnable range.
      *
@@ -1617,6 +1725,74 @@ public:
         }
         return range;
     }
+
+    /**
+     * @brief Get the FalsePositive filter fppafMaxWidthRatio range.
+     *
+     * @return OBFloatPropertyRange the fppafMaxWidthRatio value of property range.
+     */
+    OBFloatPropertyRange getfppafMaxWidthRatioRange() {
+        OBFloatPropertyRange range{};
+        const auto          &schemaVec = getConfigSchemaVec();
+        for(const auto &item: schemaVec) {
+            if(strcmp(item.name, "fppafMaxWidthRatio") == 0) {
+                range = getPropertyRange<OBFloatPropertyRange>(item, getConfigValue("fppafMaxWidthRatio"));
+                break;
+            }
+        }
+        return range;
+    }
+
+    /**
+     * @brief Get the FalsePositive filter fppafMaxHeightRatio range.
+     *
+     * @return OBFloatPropertyRange the fppafMaxHeightRatio value of property range.
+     */
+    OBFloatPropertyRange getfppafMaxHeightRatioRange() {
+        OBFloatPropertyRange range{};
+        const auto          &schemaVec = getConfigSchemaVec();
+        for(const auto &item: schemaVec) {
+            if(strcmp(item.name, "fppafMaxHeightRatio") == 0) {
+                range = getPropertyRange<OBFloatPropertyRange>(item, getConfigValue("fppafMaxHeightRatio"));
+                break;
+            }
+        }
+        return range;
+    }
+
+    /**
+     * @brief Get the FalsePositive filter fppafTolerance range.
+     *
+     * @return OBFloatPropertyRange the fppafTolerance value of property range.
+     */
+    OBFloatPropertyRange getfppafToleranceRange() {
+        OBFloatPropertyRange range{};
+        const auto          &schemaVec = getConfigSchemaVec();
+        for(const auto &item: schemaVec) {
+            if(strcmp(item.name, "fppafTolerance") == 0) {
+                range = getPropertyRange<OBFloatPropertyRange>(item, getConfigValue("fppafTolerance"));
+                break;
+            }
+        }
+        return range;
+    }
+
+    /**
+     * @brief Get the FalsePositive filter fppafScore range.
+     *
+     * @return OBUint16PropertyRange the fppafScore value of property range.
+     */
+    OBUint16PropertyRange getfppafScoreRange() {
+        OBUint16PropertyRange range{};
+        const auto           &schemaVec = getConfigSchemaVec();
+        for(const auto &item: schemaVec) {
+            if(strcmp(item.name, "fppafScore") == 0) {
+                range = getPropertyRange<OBUint16PropertyRange>(item, getConfigValue("fppafScore"));
+                break;
+            }
+        }
+        return range;
+    }
 };
 
 /**
@@ -2001,6 +2177,7 @@ inline const std::unordered_map<std::string, std::type_index> &getFilterTypeMap(
         { "FalsePositiveFilter", typeid(FalsePositiveFilter) },
         { "MgcNoiseRemovalFilter", typeid(MgcNoiseRemovalFilter) },
         { "LutNoiseRemovalFilter", typeid(LutNoiseRemovalFilter) },
+        { "UnDistortionFilter", typeid(UnDistortionFilter) },
     };
     return filterTypeMap;
 }

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 "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.8.6"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.8.7"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.8.6" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.8.7" )
 
 # 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 "2.8.6")
+set(PACKAGE_VERSION "2.8.7")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.8.6" MATCHES "^([0-9]+)\\.")
+  if("2.8.7" 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 "2.8.6")
+    set(CVF_VERSION_MAJOR "2.8.7")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

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

@@ -1 +1 @@
-libOrbbecSDK.so.2.8.6
+libOrbbecSDK.so.2.8.7

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 "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.8.6"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.8.7"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.8.6" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.8.7" )
 
 # 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 "2.8.6")
+set(PACKAGE_VERSION "2.8.7")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)
 else()
 
-  if("2.8.6" MATCHES "^([0-9]+)\\.")
+  if("2.8.7" 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 "2.8.6")
+    set(CVF_VERSION_MAJOR "2.8.7")
   endif()
 
   if(PACKAGE_FIND_VERSION_RANGE)

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

@@ -1 +1 @@
-libOrbbecSDK.so.2.8.6
+libOrbbecSDK.so.2.8.7

orbbec_camera/config/OrbbecSDKConfig_v2.0.xml

@@ -82,7 +82,13 @@
 
         <!-- GVCP port scheme: Standard = default port, SchemeB = custom port -->
         <GVCPPortScheme>Standard</GVCPPortScheme>
-        
+
+        <!-- Host-side clock type for device timestamps.
+             Options: Realtime, Monotonic.
+             Realtime: Wall clock (system_clock), epoch-based.
+             Monotonic: Monotonic clock, not tied to epoch. -->
+        <ClockSource>Realtime</ClockSource>
+
         <!-- Gemini305 config -->
         <Gemini305>
             <!-- Default backend for Linux UVC devices. If the LinuxUVCBackend is set to "Auto,"
@@ -292,6 +298,125 @@
             </RightIR>
         </Gemini305g>
 
+        <!-- Gemini309g config -->
+        <Gemini309g>
+            <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
+            will determine the device's speciality. Optional values: V4L2, LibUVC -->
+            <LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
+
+            <!-- Enable auto device reboot when a fatal XU channel IO error (LIBUSB_ERROR_IO) is
+            detected on the LibUVC backend. Set to true to enable; default is false. -->
+            <LinuxUVCAutoRebootOnFault>true</LinuxUVCAutoRebootOnFault>
+
+            <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>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>1</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>3000</MaxStartStreamDelayMs>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>6000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>530</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y16</Format>
+            </Depth>
+            <Color>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>1</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>3000</MaxStartStreamDelayMs>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>6000</MaxFrameIntervalMs>
+                <!-- The resolution width is enabled by default, int type -->
+                <Width>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>530</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>YUYV</Format>
+            </Color>
+            <LeftColor>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>1</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>3000</MaxStartStreamDelayMs>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>6000</MaxFrameIntervalMs>
+                <!-- 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>
+                <!-- Number of retries for open stream failures, 0 means no retries -->
+                <StreamFailedRetry>1</StreamFailedRetry>
+                <!-- Open flow waits for the timeout period of the first frame of data, after which
+                the open flow will fail -->
+                <MaxStartStreamDelayMs>3000</MaxStartStreamDelayMs>
+                <!-- The maximum frame interval time, if this value is exceeded, it will be judged
+                that the stream is interrupted -->
+                <MaxFrameIntervalMs>6000</MaxFrameIntervalMs>
+                <!-- 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>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>530</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>848</Width>
+                <!-- High resolution is enabled by default, int type -->
+                <Height>530</Height>
+                <!-- The frame rate of the resolution enabled by default, int type -->
+                <FPS>30</FPS>
+                <Format>Y8</Format>
+            </RightIR>
+        </Gemini309g>
+
+
         <FemtoMega>
             <!-- For Femto-Mega devices, it must be set to V4L2, LibUVC is not supported -->
             <LinuxUVCDefaultBackend>V4L2</LinuxUVCDefaultBackend>

orbbec_camera/scripts/99-obsensor-libusb.rules

@@ -48,6 +48,7 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="081a", MODE:="066
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="081b", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_338Le"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="081c", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_338L"
 SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="081d", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_331L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0845", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Gemini_309g"
 
 # OpenNI Modules
 SUBSYSTEM=="usb", ATTR{idProduct}=="0400", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_bootloader"