Add support for Astra Mini Pro and Astra Mini S Pro

zhonghong322 · zhonghong322 · commit 34cf4ee4aba3 · 2025-12-19T11:27:48.000+08:00
diff --git a/README.md b/README.md
@@ -7,7 +7,7 @@ It provides a simple and easy-to-use interface for accessing the Orbbec camera a
 The v2-main branch is based the open source version of [Orbbec SDK v2](https://github.com/orbbec/OrbbecSDK_v2). 
 
 
-**If you need to use .NET Framework, please use [this repository](https://github.com/orbbec/OrbbecSDK_CSharp). However, .NET Framework is maintained for bug fixes only, and no new features will be added. We recommend using Orbbec SDK DotNet Wrapper instead**
+**If you need to use .NET Framework, please use [this repository](https://github.com/orbbec/OrbbecSDK_CSharp). However, .NET Framework is maintained for bug fixes only, and no new features will be added. We recommend using Orbbec SDK DotNet Wrapper instead.**
 
 # Support Platforms
 
@@ -27,12 +27,14 @@ The v2-main branch is based the open source version of [Orbbec SDK v2](https://g
 | Gemini 330        | 1.2.20                       |        1.6.00                 |              |
 | Gemini 330L       | 1.2.20                       |       1.6.00                  |              |
 | Gemini 335        | 1.2.20                       |       1.6.00                  |              |
-| Gemini 335L       | 1.2.20                       |        1.6.00                 |
+| Gemini 335L       | 1.2.20                       |        1.6.00                 |              |
 | Gemini 336        | 1.2.20                       |       1.6.00                        |        |
 | Gemini 336L       | 1.2.20                       |        1.6.00                       |       |
 | Gemini 335Lg      | 1.3.46                       |        1.6.00                       |       |
 | Femto Bolt        | 1.1.2                  |              1.1.2                       |TODO: Linux is currently not supported due to issues with the depth engine.      |
 | Femto Mega        | 1.3.0                  |              1.3.1                       |        |
+| Astra Mini Pro        | 2.0.03                  |         2.0.03                       |       |
+| Astra Mini S Pro        | 2.0.03                  |       2.0.03                       |       |
 
 
 # Environment Setup
diff --git a/samples/0.basic.quick_start/Program.cs b/samples/0.basic.quick_start/Program.cs
@@ -31,7 +31,7 @@ static void Main(string[] args)
                 Console.WriteLine($"Color Profile: {colorProfile.GetWidth()}x{colorProfile.GetHeight()}@{colorProfile.GetFormat()}");
 
                 using var depthProfileList = pipe.GetStreamProfileList(SensorType.OB_SENSOR_DEPTH);
-                using var depthProfile = depthProfileList.GetVideoStreamProfile(0, 0, Format.OB_FORMAT_Y16, 0);
+                using var depthProfile = depthProfileList.GetVideoStreamProfile(0, 0, Format.OB_FORMAT_UNKNOWN, 0);
                 Console.WriteLine($"Depth Profile: {depthProfile.GetWidth()}x{depthProfile.GetHeight()}@{depthProfile.GetFormat()}");
 
                 config.EnableStream(colorProfile);
diff --git a/samples/1.stream.multi_streams/Program.cs b/samples/1.stream.multi_streams/Program.cs
@@ -7,6 +7,8 @@ class Program
     {
         private static volatile bool _isRunning = true;
         private static volatile bool _supportIMU = false;
+        private static bool IsAstraMiniDevice(string pid) =>
+            pid == "0x069D" || pid == "0x065B" || pid == "0x065E";
 
         static void Main(string[] args)
         {
@@ -33,6 +35,14 @@ static void Main(string[] args)
 
                 foreach (var sensorType in availableTypes)
                 {
+                    if(sensorType == SensorType.OB_SENSOR_IR)
+                    {
+                        if (IsAstraMiniDevice(device.GetDeviceInfo().Pid()))
+                        {
+                            continue;
+                        }
+                    }
+
                     if (sensorType == SensorType.OB_SENSOR_COLOR)
                     {
                         try
diff --git a/samples/2.device.record/Program.cs b/samples/2.device.record/Program.cs
@@ -7,6 +7,8 @@ class Program
     {
         private static volatile bool _isRunning = true;
         private static volatile bool _isPaused = false;
+        private static bool IsAstraMiniDevice(string pid) =>
+            pid == "0x069D" || pid == "0x065B" || pid == "0x065E";
 
         static void Main(string[] args)
         {
@@ -69,6 +71,14 @@ static void Main(string[] args)
                         continue;
                     }
 
+                    if (sensorType == SensorType.OB_SENSOR_IR)
+                    {
+                        if (IsAstraMiniDevice(device.GetDeviceInfo().Pid()))
+                        {
+                            continue;
+                        }
+                    }
+
                     if (sensorType == SensorType.OB_SENSOR_COLOR)
                     {
                         try
diff --git a/samples/3.advanced.coordinate_transform/Program.cs b/samples/3.advanced.coordinate_transform/Program.cs
@@ -23,7 +23,7 @@ static void Main(string[] args)
                 pipe = new Pipeline();
                 using var config = new Config();
 
-                config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_Y16);
+                config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_UNKNOWN);
                 config.EnableVideoStream(StreamType.OB_STREAM_COLOR, 0, 0, 0, Format.OB_FORMAT_RGB);
 
                 config.SetFrameAggregateOutputMode(FrameAggregateOutputMode.OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
diff --git a/samples/3.advanced.hdr/Program.cs b/samples/3.advanced.hdr/Program.cs
@@ -29,6 +29,8 @@ static void Main(string[] args)
 
                 if (!device.IsPropertySupported(PropertyId.OB_STRUCT_DEPTH_HDR_CONFIG, PermissionType.OB_PERMISSION_READ_WRITE))
                 {
+                    device?.Dispose();
+                    device = null;
                     Console.WriteLine("Current default device does not support HDR merge");
                     return;
                 }
diff --git a/samples/3.advanced.point_cloud/Program.cs b/samples/3.advanced.point_cloud/Program.cs
@@ -14,7 +14,7 @@ static void Main(string[] args)
             {
                 pipe = new Pipeline();
                 using var config = new Config();
-                config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_Y16);
+                config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_UNKNOWN);
                 config.EnableVideoStream(StreamType.OB_STREAM_COLOR, 0, 0, 0, Format.OB_FORMAT_RGB);
                 config.SetFrameAggregateOutputMode(FrameAggregateOutputMode.OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
 
diff --git a/samples/3.advanced.post_processing/Program.cs b/samples/3.advanced.post_processing/Program.cs
@@ -33,7 +33,7 @@ static void Main(string[] args)
                 PrintFiltersInfo(filterList);
 
                 using var config = new Config();
-                config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_Y16);
+                config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_UNKNOWN);
 
                 pipe.Start(config);
 
diff --git a/samples/3.advanced.sync_align/Program.cs b/samples/3.advanced.sync_align/Program.cs
@@ -30,7 +30,7 @@ static void Main(string[] args)
 
                 using var config = new Config();
                 config.EnableVideoStream(StreamType.OB_STREAM_COLOR, 0, 0, 0, Format.OB_FORMAT_RGB);
-                config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_Y16);
+                config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_UNKNOWN);
                 config.SetFrameAggregateOutputMode(FrameAggregateOutputMode.OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
 
                 pipe.Start(config);

Original file line number	Diff line number	Diff line change
`@@ -7,6 +7,8 @@ class Program`
`7`	`7`	`{`
`8`	`8`	`private static volatile bool _isRunning = true;`
`9`	`9`	`private static volatile bool _supportIMU = false;`
	`10`	`+ private static bool IsAstraMiniDevice(string pid) =>`
	`11`	`+ pid == "0x069D" \|\| pid == "0x065B" \|\| pid == "0x065E";`
`10`	`12`
`11`	`13`	`static void Main(string[] args)`
`12`	`14`	`{`
`@@ -33,6 +35,14 @@ static void Main(string[] args)`
`33`	`35`
`34`	`36`	`foreach (var sensorType in availableTypes)`
`35`	`37`	`{`
	`38`	`+ if(sensorType == SensorType.OB_SENSOR_IR)`
	`39`	`+ {`
	`40`	`+ if (IsAstraMiniDevice(device.GetDeviceInfo().Pid()))`
	`41`	`+ {`
	`42`	`+ continue;`
	`43`	`+ }`
	`44`	`+ }`
	`45`	`+`
`36`	`46`	`if (sensorType == SensorType.OB_SENSOR_COLOR)`
`37`	`47`	`{`
`38`	`48`	`try`
Original file line number	Diff line number	Diff line change
`@@ -7,6 +7,8 @@ class Program`
`7`	`7`	`{`
`8`	`8`	`private static volatile bool _isRunning = true;`
`9`	`9`	`private static volatile bool _isPaused = false;`
	`10`	`+ private static bool IsAstraMiniDevice(string pid) =>`
	`11`	`+ pid == "0x069D" \|\| pid == "0x065B" \|\| pid == "0x065E";`
`10`	`12`
`11`	`13`	`static void Main(string[] args)`
`12`	`14`	`{`
`@@ -69,6 +71,14 @@ static void Main(string[] args)`
`69`	`71`	`continue;`
`70`	`72`	`}`
`71`	`73`
	`74`	`+ if (sensorType == SensorType.OB_SENSOR_IR)`
	`75`	`+ {`
	`76`	`+ if (IsAstraMiniDevice(device.GetDeviceInfo().Pid()))`
	`77`	`+ {`
	`78`	`+ continue;`
	`79`	`+ }`
	`80`	`+ }`
	`81`	`+`
`72`	`82`	`if (sensorType == SensorType.OB_SENSOR_COLOR)`
`73`	`83`	`{`
`74`	`84`	`try`
Original file line number	Diff line number	Diff line change
`@@ -29,6 +29,8 @@ static void Main(string[] args)`
`29`	`29`
`30`	`30`	`if (!device.IsPropertySupported(PropertyId.OB_STRUCT_DEPTH_HDR_CONFIG, PermissionType.OB_PERMISSION_READ_WRITE))`
`31`	`31`	`{`
	`32`	`+ device?.Dispose();`
	`33`	`+ device = null;`
`32`	`34`	`Console.WriteLine("Current default device does not support HDR merge");`
`33`	`35`	`return;`
`34`	`36`	`}`
Original file line number	Diff line number	Diff line change
`@@ -14,7 +14,7 @@ static void Main(string[] args)`
`14`	`14`	`{`
`15`	`15`	`pipe = new Pipeline();`
`16`	`16`	`using var config = new Config();`
`17`		`- config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_Y16);`
	`17`	`+ config.EnableVideoStream(StreamType.OB_STREAM_DEPTH, 0, 0, 0, Format.OB_FORMAT_UNKNOWN);`
`18`	`18`	`config.EnableVideoStream(StreamType.OB_STREAM_COLOR, 0, 0, 0, Format.OB_FORMAT_RGB);`
`19`	`19`	`config.SetFrameAggregateOutputMode(FrameAggregateOutputMode.OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);`
`20`	`20`