From 84967062162cce1eced994fd7f0560c7c2092af4 Mon Sep 17 00:00:00 2001
From: Alexander Smorkalov <alexander.smorkalov@opencv.ai>
Date: Thu, 31 Jul 2025 12:46:58 +0300
Subject: [PATCH] Added timestamps support for Orbbec SDK backend in VideoIO.

---
 modules/videoio/include/opencv2/videoio.hpp   |  2 ++
 .../videoio/src/cap_obsensor_liborbbec.cpp    | 24 +++++++++++++++++++
 2 files changed, 26 insertions(+)

diff --git a/modules/videoio/include/opencv2/videoio.hpp b/modules/videoio/include/opencv2/videoio.hpp
index d618874c4a..b9a490bd0f 100644
--- a/modules/videoio/include/opencv2/videoio.hpp
+++ b/modules/videoio/include/opencv2/videoio.hpp
@@ -714,6 +714,8 @@ enum VideoCaptureOBSensorProperties{
     CAP_PROP_OBSENSOR_INTRINSIC_FY=26002,
     CAP_PROP_OBSENSOR_INTRINSIC_CX=26003,
     CAP_PROP_OBSENSOR_INTRINSIC_CY=26004,
+    CAP_PROP_OBSENSOR_RGB_POS_MSEC=26005,
+    CAP_PROP_OBSENSOR_DEPTH_POS_MSEC=26006,
 };
 
 //! @} OBSENSOR
diff --git a/modules/videoio/src/cap_obsensor_liborbbec.cpp b/modules/videoio/src/cap_obsensor_liborbbec.cpp
index ac581d81dc..5bb4a925d3 100644
--- a/modules/videoio/src/cap_obsensor_liborbbec.cpp
+++ b/modules/videoio/src/cap_obsensor_liborbbec.cpp
@@ -83,7 +83,31 @@ double VideoCapture_obsensor::getProperty(int propIdx) const
     case CAP_PROP_OBSENSOR_INTRINSIC_CY:
         rst = camParam.p1[3];
         break;
+    case CAP_PROP_POS_MSEC:
+    case CAP_PROP_OBSENSOR_RGB_POS_MSEC:
+        if (grabbedColorFrame)
+        {
+            rst = grabbedColorFrame->globalTimeStampUs();
+            if (rst == 0.0)
+            {
+                CV_LOG_ONCE_WARNING(NULL, "Camera reports zero global timestamp. System timestamp is used instead.");
+                rst = grabbedColorFrame->systemTimeStamp();
+            }
+        }
+        break;
+    case CAP_PROP_OBSENSOR_DEPTH_POS_MSEC:
+        if (grabbedDepthFrame)
+        {
+            rst = grabbedDepthFrame->systemTimeStamp();
+            if (rst == 0.0)
+            {
+                CV_LOG_ONCE_WARNING(NULL, "Camera reports zero global timestamp. System timestamp is used instead.");
+                rst = grabbedDepthFrame->systemTimeStamp();
+            }
+        }
+        break;
     }
+
     return rst;
 }