New Features

• Added False Positive Filter support for the Gemini 340 series to reduce ghosting noise (Requires firmware version v1.9.03 or later).
  Notes:
  1. The False Positive Filter encompasses the functionality of the Noise Removal Filter. When the False Positive Filter is enabled, disable the Noise Removal Filter to avoid redundant processing, reduce CPU usage, and improve overall system efficiency.
  2. See the post-processing sample for usage of the False Positive Filter. After enabling it, call the following API to disable the Noise Removal Filter.

    device->setBoolProperty(OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,false);

• Added optional depth presets update functionality for the Gemini 340 series (Requires firmware version v1.9.03 or later). For detailed usage instructions, please refer to optional depth presets update sample.
• Added hardware decimation sample for Gemini 435Le and Gemini 305 devices.

Fixed Issues

• Fixed a Windows x86 issue where enabling heartbeat caused command failures and unexpected device reboot.

Improvements

• Optimized the Linux libuvc XU command timeout to 6 seconds to avoid device blocking.
• Optimized the default file log level in OrbbecSDKConfig.xml to Info.

   <!-- File log output level -->
   <FileLogLevel>1</FileLogLevel>

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: OrbbecSDKv2_API_Reference.html

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 , NVIDIA Jetson Thor
• macOS: tested on M2 chip, OS version 13.2

New Features

• Added support for the Gemini 305 device.
  i. Gemini 305 supports hardware decimation.
  ii. Gemini 305 supports dual Color stream output, which can be switched by setting the device preset to Dual Color Streams.

Fixed Issues

• Fixed an issue: When connecting to other network devices, if the PID (Product Identifier) of the GVCP (GigE Vision Control Protocol) discover acknowledgment packet is 0, it may cause the device enumeration process to be very time-consuming.
• Fixed a potential deadlock or crash that could occur when exiting the application after calling the enableDeviceClockSync interface to enable timestamp synchronization.
• Fixed crashes in point cloud computation when switching from software D2C to hardware D2C, or when rotation, flipping, or mirroring was enabled.
• Fixed incorrect metadata during playback of bag files recorded with Gemini 335Lg devices.
• Fixed an issue: When using V4L2 (Video for Linux 2) mode to record Gemini 330/340 series device bag files (packet recording files) on a Linux system, the metadata is incorrect when playing back on the Windows platform.

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: OrbbecSDKv2_API_Reference.html

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 , NVIDIA Jetson Thor
• macOS: tested on M2 chip, OS version 13.2

New Features

• Added support for Pulsar ME450 and Pulsar SL450 LiDAR devices.
• Added point cloud decimation support with decimation factors from 1 to 8.

  auto pointCloud = std::make_shared<ob::PointCloudFilter>();
  pointCloud->setDecimationFactor(2);

• Added support for Visual Studio 2026 on Windows.
• Added CMake 4.0+ build support for Orbbec SDK v2.
• Added unregisterDeviceChangedCallback to unregister device status callbacks and update hot_plugin sample.

Improvements

• Optimized global timestamp fitting to reduce short-term jitter after time sync or timestamp reset.
• Optimized Gemini 335Lg timestamp acquisition and global timestamp fitting to fix occasional cases where system timestamps were smaller than global timestamps at 424×240 90fps.
• Optimized USB V4L2 and GMSL stream start logic to prevent loss of initial frames.
• Optimized the device.firmware_update sample: Gemini 330 devices in BootLoader mode now reboot automatically after the first firmware update, ensuring the second update completes successfully.
• Optimized device shutdown by disabling the heartbeat to prevent automatic reboot from heartbeat timeout.

Fixed Issues

• Fixed recognition issues for Gemini 330 series devices when connected via USB 2.0/2.1.
• Fixed metadata loss in Gemini 345Lg and DaBai AL streams when embedding metadata in the first line of the image via the GMSL camera driver.
• Fixed occasional failures in network device offline/online events after reboot.
• Fixed connection failures with Gemini 335Le/435Le after changing the local network IP.
• Fixed an OrbbecSDK v2 crash on non-Windows platforms when no USB devices are connected.
• Fixed a crash in the playback example when pressing ESC while entering loop playback after the video ended.
• Fixed incorrect device timestamps in the Color stream for Femto Mega (Ethernet) and Femto Mega I devices when BGR format is enabled.
• Fixed setup.sh and build_examples.sh failures caused by SDK paths containing spaces.

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: OrbbecSDKv2_API_Reference.html

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 , NVIDIA Jetson Thor
• macOS: tested on M2 chip, OS version 13.2

New Features

Gemini 330 series

● Added support for saving HDR Merge parameters during recording for the Gemini 330 series.
● Added Intra-camera Sync Reference based on the exposure start time, the exposure middle time, or the exposure end time for Gemini 330 series, effective in trigger mode. (Requires firmware version v1.6.00 or above)

typedef enum {
    START_OF_EXPOSURE = 0, /**< start of exposure */
    MIDDLE_OF_EXPOSURE,    /**< middle of exposure */
    END_OF_EXPOSURE,       /**< end of exposure  */
} OBIntraCameraSyncReference;

device->setIntProperty(OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT, END_OF_EXPOSURE);

● Added Color ISP denoising functionality for Gemini 330 series devices. This can only be configured when AE is enabled . (Requires firmware version v1.6.00 or above)

//1. set auto exposure
device->setBoolProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, true);
//2. Color camera CCI denoising level. 0: Auto; 1-8: higher values indicate stronger denoising. This setting has no effect when AE (Auto Exposure) is disabled
device->setIntProperty(OB_PROP_COLOR_DENOISING_LEVEL_INT, 0);

● Added support for embedding Metadata into the first line of frame data for Gemini 335Lg(Requires GMSL driver version v1.2.05 or above).
● Added stream retry feature for Gemini 330 series devices. If a stream fails to start or stops during streaming, Orbbec SDK v2 can attempt to restart it. This feature is enabled for Gemini 335Lg in OrbbecSDKConfig.xml, Other device is disabled and can be enabled via OrbbecSDKConfig.xml. Locate the corresponding device section in the configuration file and modify the following parameters:

<StreamFailedRetry>1</StreamFailedRetry>
<MaxStartStreamDelayMs>3000</MaxStartStreamDelayMs>
<MaxFrameIntervalMs>3000</MaxFrameIntervalMs>

● Added Force IP functionality with support for Gemini 335Le, Gemini 435Le, and Femto Mega / Mega I. Refer to force ip sample for usage details.

Gemini 435Le

● Added Depth Y12C4 Format Decimation Fliter support for Gemini 435Le.
● Added MJPG format metadata support for the Gemini 435Le color stream.

Femto Mega series

● Added checks for abnormal frame data in Femto Bolt to prevent crashes caused by dropped frames.
● Added Custom preset support for Femto Mega / Mega I and Femto Bolt.

Astra Mini (S) Pro

● Added support for Astra Mini S Pro and Astra Mini Pro devices. (Requires firmware version v2.0.03 or above)

SDK development tool

● Added generation of the OrbbecSDKConfigVersion.cmake file in the lib directory during SDK compilation. This allows specifying the desired SDK version in CMake using find_package, resolving conflicts when both open-source and closed-source SDKs are installed simultaneously.
For example: find_package(OrbbecSDK 2 REQUIRED) will search for the OrbbecSDK with major version 2.
● Added documentation for migrating from closed-source OrbbecSDK v1 to open-source OrbbecSDK v2.
● Added the record.nogui sample for recording .bag files without frame rendering.
● Added Clang compiler support, compatible with Clang 20.

Improvements

● Adjusted the Threshold filter in the Gemini 330 series post-processing list to appear earlier.
● Optimized network device online/offline logic, resolving issues where devices might not appear offline/online after rebooting or unplugging the network cable.
● Optimized multi-device synchronization sample, adding timestamp matching for multiple devices.
● Optimized Femto Mega I devices to improve network device discovery speed.
● Optimized benchmark documentation.

Fixed Issues

● Fixed an issue on macOS where connecting two USB devices with the same PID, unplugging all, and then replugging them into different ports caused incorrect device serial numbers.
● Fixed an issue where Gemini 435Le recorded playback could not retrieve metadata during playback.
● Fixed a potential crash when a USB device failed to retrieve its serial number from the device descriptor.

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: OrbbecSDKv2_API_Reference.html

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 Features

1. Added support for the Depth Y12C4 format in the D2C function on Gemini 435Le device, 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.

Improvements

1. Optimized the memory allocation mechanism to reduce memory fragmentation.

Fixed Issues

1. Fixed several memory leak issues.
2. Fixed an occasional crash that occurred when plug and unplug the usb device.

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

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

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