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Release v2.10.6

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@ob-yalian ob-yalian released this 30 Sep 13:14
v2.10.6
3be4b7f

The built-in OrbbecSDK has been updated to v2.10.6.

New Features

  • Added depth image colorization through the depth_colorizer_mode parameter, with support for none, jet, jet_inv, and gray. When enabled together with enable_d2c_viewer, the D2C Viewer is automatically disabled.
  • Added color frame queue size limits and overflow statistics for Color, Left Color, and Right Color.
  • Added support for configuring the polling interval for device heartbeat and firmware logs through monitor_poll_interval_sec.
  • Refactored the device_status topic to include subscription status, publishing frame rate, and average latency statistics for individual streams, with support extended to compressed image, point cloud, and IMU topics.
  • Added the --topics option to common_benchmark_node.py.
  • Added support in list_camera_profile_mode_node for querying device profiles and properties after loading a device Preset.
  • Added Left Color and Right Color support to the tools included in the ROS package.
  • Added Gemini 435Le URDF model. Device models are now previewed through the unified view_model.launch.

Improvements and Bug Fixes

  • Improved video stream profile switching, color frame processing threads, network device initialization, and handling of invalid configurations.
  • Extended frame timestamp CSV recording and image saving capabilities, with support for recording Color, Depth, and IMU timestamps and saving Raw, PNG, and Metadata JSON files.
  • Improved device property and filter configuration handling. A failure in an individual configuration item no longer interrupts subsequent device initialization.
  • Fixed an issue where the distortion model in CameraInfo did not match the distortion parameters.
  • Fixed abnormal profile behavior during SDK Bag playback.
  • Improved NVIDIA MJPEG hardware decoding on Jetson platforms.
  • Fixed incorrect ROS image encoding and data layout when switching the color stream profile to YUYV, UYVY, I420, NV12, or NV21 at runtime.
  • Improved other known issues.

Compatibility Notes

  • The device_status message structure has been updated. Applications using fields from the previous message definition must be updated accordingly.
  • The device-specific view_*_model.launch files have been replaced by the unified view_model.launch. Commands using the previous launch files must be updated, and the device model should now be specified through the model parameter.
  • The upgrade_firmware and preset_firmware_path parameters have been removed from the camera launch files. Use firmware_update_tool for firmware and Preset flashing instead.

Supported Devices

Product Series Products List Recommended FW Version Launch File
Gemini 430 Gemini 435Le 1.3.19 gemini435_le.launch
Gemini 301 Gemini 305 1.0.70 gemini_301_series.launch
Gemini 305g 1.0.70 gemini_301_series.launch
Gemini 330 Gemini 335 1.8.10 gemini_330_series.launch
Gemini 3361.8.10gemini_330_series.launch
Gemini 3301.8.10gemini_330_series.launch
Gemini 335L1.8.10gemini_330_series.launch
Gemini 336L1.8.10gemini_330_series.launch
Gemini 330L1.8.10gemini_330_series.launch
Gemini 335Lg1.8.10gemini_330_series.launch
Gemini 335Le1.8.10gemini_330_series.launch
Gemini 338Le1.8.17gemini_330_series.launch
Gemini 338Lg1.8.17gemini_330_series.launch
Gemini 340 Gemini 345Lg 1.9.03 gemini345_lg.launch
Gemini 2 Gemini 2 1.4.98 gemini2.launch
Gemini 2 L 1.5.2 gemini2L.launch
Gemini 215 1.0.9 gemini210.launch
Gemini 210 1.0.9 gemini210.launch
Femto Femto Bolt 1.1.3 femto_bolt.launch
Femto Mega 1.3.1 femto_mega.launch
Femto Mega I 2.0.4 femto_mega.launch
Astra Astra 2 2.8.20 astra2.launch
Astra Mini Astra Mini Pro 2.0.03 astra.launch
Astra Mini S Pro 2.0.03 astra.launch
LiDAR Pulsar ME450 1.0.0.6 lidar.launch
Pulsar SL450 2.2.4.5 lidar.launch

Supported Platforms

  • Linux x64: tested on Ubuntu 20.04
  • 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
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