Skip to content

Release v2.9.3

Latest
Latest

Choose a tag to compare

View all tags
@ob-yalian ob-yalian released this 20 Jul 02:08
· 1 commit to v2-main since this release
v2.9.3
4dd3511

The built-in OrbbecSDK has been updated to v2.9.3, and license files for third-party open-source libraries have been added to the release package.

Important

The upgrade_firmware and preset_firmware_path parameters in the camera node are deprecated and will be removed in the next release. Please migrate firmware and preset upgrades to the standalone firmware_update_tool (--firmware_path / --preset_path).

New Features

  • Added enhanced depth filtering support for LingBot. For details, refer to:enhanced_depth_filter
  • Added the FalsePositiveFilter texture filter for the Gemini 330 series and the DispOutliersFilter disparity outlier filter for the DaBai Max series. For details, refer to:false_positive_filter
  • Extended the Preset import and export capabilities of the Gemini 330 series. Presets can now save both device parameters and Application Config settings, including stream configurations, alignment modes, point cloud settings, and HDR Merge status. For details, refer to:sdk_json_config
  • Added URDF models for the Gemini 301 series and Gemini 340 series.
  • Added SDK Bag recording and playback functionality. Recording and playback files can be specified through parameters, and the recording status can be controlled through services.
  • Added support for switching video stream profiles and depth-to-color image alignment modes at runtime.
  • Added SDK timestamp clock source configuration, with support for realtime and monotonic.
  • Added FPS Boost support for the Gemini 330 series.
  • Added an LRM obstacle distance publishing topic.
  • Added the enable_image_transport_plugins parameter to control whether Image Transport plugins are enabled.
  • Added software trigger control and manual triggering. The software_trigger_enabled parameter controls periodic automatic triggering, while the send_software_trigger service sends a single software trigger command.
  • Enhanced the device enumeration and network configuration tools. They can now display Preset information, MAC addresses, and the CCP status of network devices. Persistent IP configuration is also supported.
  • Consolidated the Gemini 305 and Gemini 305g launch files into the Gemini 301 series launch files.

Improvements and Bug Fixes

  • Improved stream startup stability for the Gemini 301 series after device reconnection or restart.
  • Optimized the RGB and MJPEG image publishing process.
  • Added undistortion controls for individual video streams and improved the handling of image camera intrinsics after D2C alignment.
  • Camera control services are now created dynamically based on device capabilities. Services unsupported by the device are no longer displayed.
  • Improved parameter validation. Some enumeration parameters are now case-insensitive.
  • Enhanced dropped-frame logging and timestamp CSV recording.
  • Added support for configuring log directories through the ORBBEC_LOG_DIR and ROS_LOG_DIR environment variables.
  • Changed the default value of frames_per_trigger to 1.
  • Simplified the Gemini 301 series launch files and YAML configurations by removing redundant parameters and enabling the hardware noise reduction filter by default.
  • Fixed an issue where the color and depth camera intrinsics were inconsistent after D2C alignment.

Key New Parameters, Services, and Topics

Configuration and Runtime Control Services

  • export_config_json
  • get_device_config
  • set_stream_profile
  • set_image_registration_mode
  • set_bag_recording
  • set_sync_io_voltage_level
  • send_software_trigger

Major New Parameters

  • timestamp_clock_type
  • bag_record_filename
  • bag_filename
  • color_mjpeg_quality
  • enable_image_transport_plugins
  • enable_fps_boost
  • enable_enhanced_depth
  • enhanced_depth_model_path
  • enhanced_depth_confidence_threshold
  • enable_disp_outliers_filter
  • disp_outliers_filter_search_mode
  • enable_edge_noise_removal_filter
  • sync_io_voltage_level
  • software_trigger_enabled

New Topic

  • lrm/obstacle_distance

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
Assets 3
Loading