@fengyuentau @jia-kai Could you take a look?

@asmorkalov Jia's GitHub account is @kaingwade .

@asmorkalov Which model can we use for testing this PR?

I use Astra 2, but I expect it should work for all cameras.

Astra 2 needs a firmware update to work properly after #24877, but Orbbec hasn't provided the update, and there is no plan to do so as far as I know.
I tested this PR too on Ubuntu with Astra 2, still fails to output the depth image, just like before.
@asmorkalov

I replaced the resolution setup like this:

diff --git a/modules/videoio/src/cap_obsensor_liborbbec.cpp b/modules/videoio/src/cap_obsensor_liborbbec.cpp
index ac581d81dc..53bfeb2cb3 100644
--- a/modules/videoio/src/cap_obsensor_liborbbec.cpp
+++ b/modules/videoio/src/cap_obsensor_liborbbec.cpp
@@ -39,13 +39,15 @@ VideoCapture_obsensor::VideoCapture_obsensor(int)
     config = std::make_shared<ob::Config>();
     pipe = std::make_shared<ob::Pipeline>();
     auto colorProfiles = pipe->getStreamProfileList(OB_SENSOR_COLOR);
-    auto colorProfile = colorProfiles->getProfile(OB_PROFILE_DEFAULT);
+    // auto colorProfile = colorProfiles->getProfile(OB_PROFILE_DEFAULT);
+    auto colorProfile = colorProfiles->getVideoStreamProfile(1920, 1080, OB_FORMAT_MJPG, OB_FPS_ANY);
+
     config->enableStream(colorProfile->as<ob::VideoStreamProfile>());
 
     auto depthProfiles = pipe->getStreamProfileList(OB_SENSOR_DEPTH);
-    auto depthProfile = depthProfiles->getProfile(OB_PROFILE_DEFAULT);
+    // auto depthProfile = depthProfiles->getProfile(OB_PROFILE_DEFAULT);
+    auto depthProfile = depthProfiles->getVideoStreamProfile(1600, 1200, OB_FORMAT_Y14, 5); //OB_FPS_ANY);
     config->enableStream(depthProfile->as<ob::VideoStreamProfile>());
-
     config->setAlignMode(ALIGN_D2C_SW_MODE);
 
     pipe->start(config, [&](std::shared_ptr<ob::FrameSet> frameset) {

And my camera works well with Orbbec SDK. Could you try it too? In case if it works as expected, I propose to merge the patch. I have another one.

I use Astra 2, but I expect it should work for all cameras.

It works for Astra 2 on Ubuntu with OBSENSOR_USE_ORBBEC_SDK=ON. Tested Gemini 2 L and it also works.

I replaced the resolution setup like this:

diff --git a/modules/videoio/src/cap_obsensor_liborbbec.cpp b/modules/videoio/src/cap_obsensor_liborbbec.cpp
index ac581d81dc..53bfeb2cb3 100644
--- a/modules/videoio/src/cap_obsensor_liborbbec.cpp
+++ b/modules/videoio/src/cap_obsensor_liborbbec.cpp
@@ -39,13 +39,15 @@ VideoCapture_obsensor::VideoCapture_obsensor(int)
     config = std::make_shared<ob::Config>();
     pipe = std::make_shared<ob::Pipeline>();
     auto colorProfiles = pipe->getStreamProfileList(OB_SENSOR_COLOR);
-    auto colorProfile = colorProfiles->getProfile(OB_PROFILE_DEFAULT);
+    // auto colorProfile = colorProfiles->getProfile(OB_PROFILE_DEFAULT);
+    auto colorProfile = colorProfiles->getVideoStreamProfile(1920, 1080, OB_FORMAT_MJPG, OB_FPS_ANY);
+
     config->enableStream(colorProfile->as<ob::VideoStreamProfile>());
 
     auto depthProfiles = pipe->getStreamProfileList(OB_SENSOR_DEPTH);
-    auto depthProfile = depthProfiles->getProfile(OB_PROFILE_DEFAULT);
+    // auto depthProfile = depthProfiles->getProfile(OB_PROFILE_DEFAULT);
+    auto depthProfile = depthProfiles->getVideoStreamProfile(1600, 1200, OB_FORMAT_Y14, 5); //OB_FPS_ANY);
     config->enableStream(depthProfile->as<ob::VideoStreamProfile>());
-
     config->setAlignMode(ALIGN_D2C_SW_MODE);
 
     pipe->start(config, [&](std::shared_ptr<ob::FrameSet> frameset) {

Changed resolution works with Astra 2, but not with Gemini 2 L and Femto (possibly some other models as well):
[warning][1025160][ObException.cpp:5] Invalid input, No matched video stream profile found!

I set resolution and FPS profile according to the camera spec. Most probably so high depth resolution is not supported by other devices. Please approve the PR, I'll submit another PR with resolution setting.