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Release v2.9.3

Release v2.9.3 Latest
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@simbachou simbachou released this 16 Jul 15:48
v2.9.3
2f6561c

New Features and Major Improvements

  • LingBot Enhanced Depth Filter: Now available for Gemini 330 series devices. The filter combines Color and Depth information to reduce depth noise, fill depth holes, and refine object edges. It currently supports NVIDIA Jetson/Linux ARM64; before use, activate the device license and deploy the model.sm4 file provided with this release. See the LingBot Enhanced Depth Filter Guide for details.
  • Timestamp enhancements:
    • Improved global timestamp fitting by using the system monotonic clock as the fitting reference, preventing NTP synchronization or system wall-clock adjustments from causing timestamp jumps and providing more continuous and stable timestamps.
    • Device timestamps can now use either the system monotonic clock or the system wall clock as their clock source.
    • Added hardware PPS time synchronization for DaBai series devices in multi-device synchronization scenarios.
  • Expanded preset import and export for Gemini 330 series devices. Presets can now include both device parameters and Application Config, such as stream profiles, alignment mode, point cloud, and HDR Merge state.
  • Added public Color Preset APIs for querying and switching presets by name.
  • Added FalsePositiveFilter support for Gemini 330 series devices, the general-purpose UnDistortionFilter, and DispOutliersFilter support for DaBai Max series devices.
  • Gemini 335Le and Gemini 435Le now support network-device CCP state queries.
  • Improved third-party open-source compliance by including the applicable open-source license files for third-party libraries in SDK release packages.

Key New APIs

  • Application Config for Gemini 330 series devices:
    • C++: ob::ApplicationConfig
    • C: ob_device_get_application_config, ob_device_is_application_config_supported
  • Color Preset:
    • C++: ob::Device::isColorPresetSupported, ob::Device::getCurrentColorPresetName, ob::Device::switchColorPreset, ob::Device::getColorPresetList
    • C: ob_device_is_color_preset_supported, ob_device_get_current_color_preset_name, ob_device_switch_color_preset, ob_device_get_color_preset_list
    • Applications should use these APIs to query and switch Color Presets. Direct access to OB_PROP_COLOR_PRESET_PRIORITY_INT (ID 255) is not recommended because the property will become internal in a future release.
  • Timestamp clock source and hardware PPS time synchronization for DaBai series devices:
    • C++: ob::Context::setTimestampClockType, ob::Context::syncDeviceHardwarePPSTime, ob::Device::syncDeviceHardwarePPSTime
    • C: ob_context_set_timestamp_clock_type, ob_sync_device_hardware_pps_time, ob_device_sync_hardware_pps_time
  • Network-device CCP state queries for Gemini 335Le and Gemini 435Le:
    • C++: ob::DeviceList::queryDeviceAccessState, ob::DeviceList::queryDeviceAccessStateBySN
    • C: ob_device_list_query_device_access_state, ob_device_list_query_device_access_state_by_serial_number
  • Firmware-log state queries:
    • C++: ob::Device::isFirmwareLogEnabled
    • C: ob_device_is_firmware_log_enabled

Improvements and Fixes

  • Improved Linux build compatibility by supporting SDK sample compilation with GCC 15 and later.
  • Improved Pipeline health monitoring to avoid false status errors during normal stream shutdown, with better handling for software-trigger and hardware-trigger modes and fewer unnecessary device-status queries.
  • Improved HDR Merge frame matching by using timestamp matching when frame-number matching is unavailable, allowing IR frames to participate more reliably when stream startup is delayed.
  • Improved activity detection for Femto Mega and Femto Mega I network devices to prevent GVCP scanning errors from incorrectly marking devices as offline.
  • Fixed stream startup failures and hardware D2C state conflicts in multi-Pipeline scenarios on Gemini 330 and Gemini 305 series devices.
  • Improved stream startup, shutdown, and long-running stability for Linux V4L2 USB, GMSL, and GigE network devices.
  • Fixed LiDAR devices failing to stop streaming when only the ACCEL or GYRO stream was enabled.
  • Fixed repeated MJPG metadata update skipped: logs when streaming from Femto Mega and Femto Mega I network devices.
  • Corrected D2C alignment, Color intrinsic, and distortion parameter issues affecting DaBai A, DaBai, Gemini 340, and Gemini 305 series devices.
  • Fixed Optional Depth Preset updates potentially reporting success after a failed update.
  • Improved thread safety and communication reliability during device property access and firmware or preset updates.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: OrbbecSDKv2_API_Reference.html

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Gemini 305g 1.0.70
Gemini 305 1.0.70
Astra Mini Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Astra Mini S Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Gemini 435Le 1.3.19
Gemini 330 series 1.8.10 Gemini 330/330L/335/335L/336/336L/335Lg/335Le
Gemini 338Le/338Lg 1.8.17 Gemini 338Le/338Lg
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.98
Gemini 2 L 1.5.2
Femto Bolt 1.1.3 unsupport macOS
Femto Mega 1.3.1
Femto Mega I 2.0.5
Astra 2 2.8.20
Gemini 345 1.9.03
Gemini 345Lg 1.9.03
Pulsar SL450 2.2.4.5
Pulsar ME450 1.0.0.6

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • 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
  • macOS: tested on M2 chip, OS version 26.0
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Release v2.8.7

Release v2.8.7

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@simbachou simbachou released this 26 Jun 13:32
v2.8.7
ab8672c

This release adds FPS boost property support for Gemini 330 devices and includes several compatibility and usability fixes.

Firmware requirement: OB_PROP_FPS_BOOST_BOOL requires Gemini 330 firmware v1.8.10 or later.
Firmware download: https://www.orbbec.com/docs/g330-firmware-release/

Changes

SDK

  • Added OB_PROP_FPS_BOOST_BOOL property support for Gemini 330 USB and GMSL devices.
  • Removed redundant MJPG metadata error logs when streaming normal frames without metadata on MEGA devices.
  • Fixed sample compilation failures on Linux with GCC 15 and later.

Tools

  • Added support for the OB_PROP_FPS_BOOST_BOOL property.
  • Fixed invisible file dialogs caused by malformed Zenity file-filter arguments on Zenity 4.1.9 and later.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: OrbbecSDKv2_API_Reference.html

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Gemini 305g 1.0.70
Gemini 305 1.0.70
Astra Mini Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Astra Mini S Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Gemini 435Le 1.3.19
Gemini 330 series 1.8.10 Gemini 330/330L/335/335L/336/336L/335Lg/335Le
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.98
Gemini 2 L 1.5.2
Femto Bolt 1.1.3 unsupport macOS
Femto Mega 1.3.1
Femto Mega I 2.0.5
Astra 2 2.8.20
Gemini 345 1.9.03
Gemini 345Lg 1.9.03
Pulsar SL450 2.2.4.5
Pulsar ME450 1.0.0.6

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • 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
  • macOS: tested on M2 chip, OS version 13.2
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Release v2.8.6

Release v2.8.6

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@zhonghong322 zhonghong322 released this 29 Apr 01:28
v2.8.6
6399409

New Features

  • Added support for Gemini 305g device.
  • Added Color anti-flicker control for Gemini 305 series devices (requires firmware v1.0.70 or later).
//true: enable ,false: disable
device->setBoolProperty(OB_PROP_COLOR_ANTI_FLICKER_BOOL,true);
  • Added support for retrieving intrinsic and extrinsic parameters of dual color on Gemini 305 series when the device preset is set to dual color streams.
  • Added support for configuring the gateway address as 0.0.0.0 on Gemini 335Le and Gemini 435Le devices.
  • Added a dedicated firmware log interface, decoupled from the heartbeat interface.
//true:enable, false:disable
device->enableFirmwareLog(true);
  • Added getStatus() interface to ob::Error to retrieve error status codes, and refined error code definitions.
try{
  ....
}catch(ob::Error &e) {
    std::cerr << "function:" << e.getFunction() << "\nargs:" << e.getArgs() << "\nmessage:" << e.what() << "\nstatus:" << e.getStatus()
              << "\ntype:" << e.getExceptionType() << std::endl;
}
  • Added stream health monitoring to the pipeline, supporting both active and passive status retrieval.
// active status retrieval
ob::Pipeline pipe;
auto status = pipeline.getStatus();

// passive status retrieval 
ob::Pipeline pipe;
pipe.enableHealthMonitor([&](OBPipelineStatus status) { printPipelineStatus("video", status); });

Fixed Issues

  • Fixed inaccurate timestamps on Gemini 330 series and Gemini 305 series devices when the Intra-camera Sync Reference is set to Start of Exposure.
typedef enum {
    START_OF_EXPOSURE = 0, /**< start of exposure */
    MIDDLE_OF_EXPOSURE,    /**< middle of exposure */
    END_OF_EXPOSURE,       /**< end of exposure  */
} OBIntraCameraSyncReference;

device->setIntProperty(OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT, START_OF_EXPOSURE);
  • Fixed inconsistency between Auto Exposure / Exposure Priority parameters and actual behavior after switching Gemini 305 Depth Preset to dual color streams.
  • Fixed abnormal metadata on the right color stream of Gemini 305 series devices .
  • Fixed potential crash issue when switching Device Preset on Gemini 305 series devices.
  • Fixed firmware update sample reboot detection failure caused by device reboot timing (too fast or too slow) after the first firmware update when two update passes are required in Bootloader mode on Gemini 330 series devices.
  • Fixed a deadlock issue when starting streams on Gemini 335Lg devices.
  • Fixed abnormal depth values in Gemini 335Le under hardware D2D and software D2C scenarios by adding maximum abnormal depth filtering to correct point cloud artifacts.（implementing a maximum depth threshold to filter out erroneous points and resolve cloud artifacts.）
  • Fixed incorrect IMU temperature on Gemini 340 series devices.
  • Fixed distortion model issue on Gemini 340 series devices by updating from k3 to k6.
  • Fixed failure to connect to Femto Mega / Mega I / Gemini 435Le devices via IP and port on non-Windows platforms.
ob::Context ctx;
auto device = ctx.createNetDevice("192.168.1.10", 8090);
  • Fixed incorrect depth values in point clouds when the depth unit is below 0.09.
  • Fixed thread safety issues in PointCloudFilter.
  • Fixed repeated disconnect/reconnect or failure to reconnect when the NIC has multiple IPs configured outside the device subnet.

Improvements

  • Optimized the decimation sample.
  • Optimized the device initialization process, fixing a potential deadlock issue on Gemini 335Le when rapidly starting and stopping streams.
  • Optimized the stream stop process on Gemini 335Le by adding a socket buffer flushing mechanism to prevent receiving invalid frames when restarting the stream.
  • Optimized the Orbbec SDK packaging format to use tar.gz on Linux and macOS platforms.
  • Optimized log flushing by switching from synchronous to asynchronous mode.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: OrbbecSDKv2_API_Reference.html

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Gemini 305g 1.0.70
Gemini 305 1.0.70
Astra Mini Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Astra Mini S Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Gemini 435Le 1.3.19
Gemini 330 series 1.6.00 Gemini 330/330L/335/335L/336/336L/335Lg/335Le
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.98
Gemini 2 L 1.5.2
Femto Bolt 1.1.3 unsupport macOS
Femto Mega 1.3.1
Femto Mega I 2.0.5
Astra 2 2.8.20
Gemini 345 1.9.03
Gemini 345Lg 1.9.03
Pulsar SL450 2.2.4.5
Pulsar ME450 1.0.0.6

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • 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
  • macOS: tested on M2 chip, OS version 13.2
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Release v2.7.6

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@zhonghong322 zhonghong322 released this 13 Feb 08:20
v2.7.6
d712cda

New Features

  • Added False Positive Filter support for the Gemini 340 series to reduce ghosting noise (Requires firmware version v1.9.03 or later).
    Notes:
    1. The False Positive Filter encompasses the functionality of the Noise Removal Filter. When the False Positive Filter is enabled, disable the Noise Removal Filter to avoid redundant processing, reduce CPU usage, and improve overall system efficiency.
    2. See the post-processing sample for usage of the False Positive Filter. After enabling it, call the following API to disable the Noise Removal Filter.
    device->setBoolProperty(OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,false);

Fixed Issues

  • Fixed a Windows x86 issue where enabling heartbeat caused command failures and unexpected device reboot.

Improvements

  • Optimized the Linux libuvc XU command timeout to 6 seconds to avoid device blocking.
  • Optimized the default file log level in OrbbecSDKConfig.xml to Info.
   <!-- File log output level -->
   <FileLogLevel>1</FileLogLevel>

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: OrbbecSDKv2_API_Reference.html

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Gemini 305 1.0.30
Astra Mini Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Astra Mini S Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Gemini 435Le 1.3.6
Gemini 330 series 1.6.00 Gemini 330/330L/335/335L/336/336L/335Lg/335Le
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.98
Gemini 2 L 1.5.2
Femto Bolt 1.1.3 unsupport macOS
Femto Mega 1.3.1
Femto Mega I 2.0.5
Astra 2 2.8.20
Gemini 345 1.9.03
Gemini 345Lg 1.9.03
Pulsar SL450 2.2.4.5
Pulsar ME450 1.0.0.6

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • 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
  • macOS: tested on M2 chip, OS version 13.2
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Release v2.7.2-rc

Release v2.7.2-rc Pre-release
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@zhonghong322 zhonghong322 released this 21 Jan 14:27
v2.7.2-rc
5072d2a

New Features

  • Added support for the Gemini 305 device.
    i. Gemini 305 supports hardware decimation.
    ii. Gemini 305 supports dual Color stream output, which can be switched by setting the device preset to Dual Color Streams.

Fixed Issues

  • Fixed an issue: When connecting to other network devices, if the PID (Product Identifier) of the GVCP (GigE Vision Control Protocol) discover acknowledgment packet is 0, it may cause the device enumeration process to be very time-consuming.
  • Fixed a potential deadlock or crash that could occur when exiting the application after calling the enableDeviceClockSync interface to enable timestamp synchronization.
  • Fixed crashes in point cloud computation when switching from software D2C to hardware D2C, or when rotation, flipping, or mirroring was enabled.
  • Fixed incorrect metadata during playback of bag files recorded with Gemini 335Lg devices.
  • Fixed an issue: When using V4L2 (Video for Linux 2) mode to record Gemini 330/340 series device bag files (packet recording files) on a Linux system, the metadata is incorrect when playing back on the Windows platform.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: OrbbecSDKv2_API_Reference.html

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Gemini 305 1.0.30
Astra Mini Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Astra Mini S Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Gemini 435Le 1.3.6
Gemini 330 series 1.6.00 Gemini 330/330L/335/335L/336/336L/335Lg/335Le
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.98
Gemini 2 L 1.5.2
Femto Bolt 1.1.3 unsupport macOS
Femto Mega 1.3.1
Femto Mega I 2.0.5
Astra 2 2.8.20
Gemini 345 1.7.12
Gemini 345Lg 1.7.12
Pulsar SL450 2.2.4.5
Pulsar ME450 1.0.0.6

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • 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
  • macOS: tested on M2 chip, OS version 13.2
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Release v2.6.3

Release v2.6.3

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@zhonghong322 zhonghong322 released this 29 Dec 12:38
v2.6.3
4e448f9

New Features

  auto pointCloud = std::make_shared<ob::PointCloudFilter>();
  pointCloud->setDecimationFactor(2);
  • Added support for Visual Studio 2026 on Windows.
  • Added CMake 4.0+ build support for Orbbec SDK v2.
  • Added unregisterDeviceChangedCallback to unregister device status callbacks and update hot_plugin sample.

Improvements

  • Optimized global timestamp fitting to reduce short-term jitter after time sync or timestamp reset.
  • Optimized Gemini 335Lg timestamp acquisition and global timestamp fitting to fix occasional cases where system timestamps were smaller than global timestamps at 424×240 90fps.
  • Optimized USB V4L2 and GMSL stream start logic to prevent loss of initial frames.
  • Optimized the device.firmware_update sample: Gemini 330 devices in BootLoader mode now reboot automatically after the first firmware update, ensuring the second update completes successfully.
  • Optimized device shutdown by disabling the heartbeat to prevent automatic reboot from heartbeat timeout.

Fixed Issues

  • Fixed recognition issues for Gemini 330 series devices when connected via USB 2.0/2.1.
  • Fixed metadata loss in Gemini 345Lg and DaBai AL streams when embedding metadata in the first line of the image via the GMSL camera driver.
  • Fixed occasional failures in network device offline/online events after reboot.
  • Fixed connection failures with Gemini 335Le/435Le after changing the local network IP.
  • Fixed an OrbbecSDK v2 crash on non-Windows platforms when no USB devices are connected.
  • Fixed a crash in the playback example when pressing ESC while entering loop playback after the video ended.
  • Fixed incorrect device timestamps in the Color stream for Femto Mega (Ethernet) and Femto Mega I devices when BGR format is enabled.
  • Fixed setup.sh and build_examples.sh failures caused by SDK paths containing spaces.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: OrbbecSDKv2_API_Reference.html

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Astra Mini Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Astra Mini S Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Gemini 435Le 1.3.6
Gemini 330 series 1.6.00 Gemini 330/330L/335/335L/336/336L/335Lg/335Le
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.98
Gemini 2 L 1.5.2
Femto Bolt 1.1.3 unsupport macOS
Femto Mega 1.3.1
Femto Mega I 2.0.5
Astra 2 2.8.20
Gemini 345 1.7.12
Gemini 345Lg 1.7.12
Pulsar SL450 2.2.4.5
Pulsar ME450 1.0.0.6

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • 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
  • macOS: tested on M2 chip, OS version 13.2
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Release v2.5.5

Release v2.5.5

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@zhonghong322 zhonghong322 released this 13 Oct 13:55
v2.5.5
1a38b95

New Features

Gemini 330 series

● Added support for saving HDR Merge parameters during recording for the Gemini 330 series.
● Added Intra-camera Sync Reference based on the exposure start time, the exposure middle time, or the exposure end time for Gemini 330 series, effective in trigger mode. (Requires firmware version v1.6.00 or above)

typedef enum {
    START_OF_EXPOSURE = 0, /**< start of exposure */
    MIDDLE_OF_EXPOSURE,    /**< middle of exposure */
    END_OF_EXPOSURE,       /**< end of exposure  */
} OBIntraCameraSyncReference;

device->setIntProperty(OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT, END_OF_EXPOSURE);

● Added Color ISP denoising functionality for Gemini 330 series devices. This can only be configured when AE is enabled . (Requires firmware version v1.6.00 or above)

//1. set auto exposure
device->setBoolProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, true);
//2. Color camera CCI denoising level. 0: Auto; 1-8: higher values indicate stronger denoising. This setting has no effect when AE (Auto Exposure) is disabled
device->setIntProperty(OB_PROP_COLOR_DENOISING_LEVEL_INT, 0);

● Added support for embedding Metadata into the first line of frame data for Gemini 335Lg(Requires GMSL driver version v1.2.05 or above).
● Added stream retry feature for Gemini 330 series devices. If a stream fails to start or stops during streaming, Orbbec SDK v2 can attempt to restart it. This feature is enabled for Gemini 335Lg in OrbbecSDKConfig.xml, Other device is disabled and can be enabled via OrbbecSDKConfig.xml. Locate the corresponding device section in the configuration file and modify the following parameters:

<StreamFailedRetry>1</StreamFailedRetry>
<MaxStartStreamDelayMs>3000</MaxStartStreamDelayMs>
<MaxFrameIntervalMs>3000</MaxFrameIntervalMs>

● Added Force IP functionality with support for Gemini 335Le, Gemini 435Le, and Femto Mega / Mega I. Refer to force ip sample for usage details.

Gemini 435Le

● Added Depth Y12C4 Format Decimation Fliter support for Gemini 435Le.
● Added MJPG format metadata support for the Gemini 435Le color stream.

Femto Mega series

● Added checks for abnormal frame data in Femto Bolt to prevent crashes caused by dropped frames.
● Added Custom preset support for Femto Mega / Mega I and Femto Bolt.

Astra Mini (S) Pro

● Added support for Astra Mini S Pro and Astra Mini Pro devices. (Requires firmware version v2.0.03 or above)

SDK development tool

● Added generation of the OrbbecSDKConfigVersion.cmake file in the lib directory during SDK compilation. This allows specifying the desired SDK version in CMake using find_package, resolving conflicts when both open-source and closed-source SDKs are installed simultaneously.
For example: find_package(OrbbecSDK 2 REQUIRED) will search for the OrbbecSDK with major version 2.
● Added documentation for migrating from closed-source OrbbecSDK v1 to open-source OrbbecSDK v2.
● Added the record.nogui sample for recording .bag files without frame rendering.
● Added Clang compiler support, compatible with Clang 20.

Improvements

● Adjusted the Threshold filter in the Gemini 330 series post-processing list to appear earlier.
● Optimized network device online/offline logic, resolving issues where devices might not appear offline/online after rebooting or unplugging the network cable.
● Optimized multi-device synchronization sample, adding timestamp matching for multiple devices.
● Optimized Femto Mega I devices to improve network device discovery speed.
● Optimized benchmark documentation.

Fixed Issues

● Fixed an issue on macOS where connecting two USB devices with the same PID, unplugging all, and then replugging them into different ports caused incorrect device serial numbers.
● Fixed an issue where Gemini 435Le recorded playback could not retrieve metadata during playback.
● Fixed a potential crash when a USB device failed to retrieve its serial number from the device descriptor.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: OrbbecSDKv2_API_Reference.html

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Astra Mini Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Astra Mini S Pro 2.0.03 Version of v2.x.x (major version 2) indicates firmware using the UVC protocol, which is only supported by Orbbec SDK v2.
Gemini 435Le 1.3.6
Gemini 330 series 1.6.00 Gemini 330/330L/335/335L/336/336L/335Lg/335Le
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.98
Gemini 2 L 1.5.2
Femto Bolt 1.1.2 unsupport macOS
Femto Mega 1.3.1
Femto Mega I 2.0.5
Astra 2 2.8.20

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX
  • macOS: tested on M2 chip, OS version 13.2
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Release v2.4.11

Release v2.4.11

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@zhonghong322 zhonghong322 released this 11 Aug 13:27
v2.4.11
058db73

New Features

  1. Added support for the Depth Y12C4 format in the D2C function on Gemini 435Le device, where Y12C4 indicates that each pixel uses 16 bits in total, with the high 12 bits representing Depth and the low 4 bits representing Confidence.

Improvements

  1. Optimized the memory allocation mechanism to reduce memory fragmentation.

Fixed Issues

  1. Fixed several memory leak issues.
  2. Fixed an occasional crash that occurred when plug and unplug the usb device.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: Orbbec_SDK_API_Reference.html

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Gemini 435Le v1.3.2
Gemini 330 series 1.5.55 Gemini 330/330L/335/335L/336/336L/335Lg/335Le
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.98
Gemini 2 L 1.5.2
Femto Bolt 1.1.2 unsupport macOS
Femto Mega 1.3.1
Femto Mega I 2.0.5
Astra 2 2.8.20

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX
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Release v2.4.8

Release v2.4.8

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@zhonghong322 zhonghong322 released this 04 Jul 12:21
v2.4.8
ec8e346

New feature

1、Added confidence stream (Y8 format or Y12C4 format) for Gemini 435Le, where Y12C4 indicates that each pixel uses 16 bits in total, with the high 12 bits representing Depth and the low 4 bits representing Confidence.
2、Added update preset feature for Gemini 435Le.
3、Added Sequence Id Filter for Gemini 335Le.
4、Added Disparity Search Offset for Gemini 435Le.
5、Added Timestamp and Sensor Timestamp in Medatata for Gemini 435Le.
6、Added mirror, flip, and rotation features for Femto Mega I.

Improvement

1、Added check the device status before starting the stream for Gemini 330 series Device. If there is a sensor or configuration error, an error message will be displayed, prompting update firmware. (Notes: require firmware version 1.5.55 or above for Gemini 330 series).
2、Fixed the issue of incorrect temperature readings when the IMU stream is off for Gemini 330 series. The firmware now returns the temperature as NAN, displayed as "N/A" in OrbbecViewer.(Notes: require firmware version 1.5.55 or above for Gemini 330 series).
3、Added Color and Depth timestamps to a CSV file in benchmark sample.
4、Enforce an error when attempting to enable Y12/Y16 format IR streams in non-factory mode for the Gemini 330 series.
5、Modify and optimize the abnormal frame timestamp filtering logic (now considered abnormal only if the difference between consecutive frames exceeds 5 seconds; previously judged based on the duration of 10 frames).

Fixed issue

1、Fixed runtime errors when Linux compiled sample were copied to other machines by configuring RPATH with relative paths.
2、Fixed start stream failure issue for Gemini 330 series with firmware versions earlier than 1.3.25.
3、Fixed enumeration failures of Femto Mega/Mega I network devices on Linux systems with multiple network interface cards (NICs).
4、Fixed compilation errors in the PCL sample program.
5、Fixed color cast issues in BGR data rendering for the device_playback sample.
6、Fixed the incorrect depth values during playback after depth recording for Gemini 215/210 devices.
7、Fixed the issue where device heartbeat configured in the XML file failed to take effect.
8、Fixed IMU frame loss and timestamp anomaly warnings within the first 10 seconds after enabling high frame rate (≥200Hz).
9、Fixed an issue where hardware D2C alignment was incorrect on multiple devices with different Color and Depth resolutions.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: Orbbec_SDK_API_Reference.html

Download the Orbbec SDK package

The source code package contains the complete set of files, including Orbbec SDK libraries, headers, and sample code for all platforms. Please download it directly from the Assets section below.

  1. Packages starting with OrbbecSDK are SDK packages for different platforms, containing precompiled binary files.
  2. Packages starting with OrbbecViewer are viewer packages that provide tools for interacting with Orbbec devices.
  3. The file OrbbecSDK_vx.x.x_win64.exe serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Windows.
  4. The file OrbbecSDK_vx.x.x_amd64.deb serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Linux x86_64, likes ubuntu.
  5. The file OrbbecSDK_vx.x.x_arm64.deb serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on ARM64，likes NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX.

Install via .deb Package

  • On the Linux x64 (ubuntu) platform, install using the following command. (If you are using the Arm64 platform, please use OrbbecSDK_vx.x.x_arm64.deb)
sudo dpkg -i OrbbecSDK_v2.x.x_amd64.deb
  • Check the entire package path of the Orbbec SDK using dpkg -L orbbecsdk, while the header files and library files of the Orbbec SDK will be installed in the /usr/local path.
dpkg -L orbbecsdk
  • Run the Orbbec Viewer.
sudo ./OrbbecViewer

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Gemini 435Le v1.3.2
Gemini 330 series 1.5.55 Gemini 330/330L/335/335L/336/336L/335Lg/335Le
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.92
Gemini 2 L 1.4.53
Femto Bolt 1.1.2 unsupport macOS
Femto Mega 1.3.0
Femto Mega I 2.0.5
Astra 2 2.8.20

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX
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Release v2.4.3

Release v2.4.3

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@zhonghong322 zhonghong322 released this 21 May 01:44
v2.4.3
045a0e7

New feature

● Added support for Gemini 435Le.
● Added support for frame mirror, flip, and rotation.
● Added save to disk sample to save depth and color images.
● Added frame interleave function for Gemini 335Le.
● Added depth noise removal filter and post-processing filters for Femto Mega Series.
● Added Windows and Linux/Arm64 installation packages.

Improvement

● Updated multi devices firmware update sample to add device reboot after update firmware.

Fixed issue

● Fixed some issues with record and playback. (Notes: Record and playback require firmware version 1.4.00 or above for Gemini 330 series.)
● Fixed the issue of depth distortion parameters in Astra2 device.
● Fixed the issue of color distortion parameters after C2D in Femto Mega Series.
● Fixed Right IR can not mirror issue in common usages sample.
● Fixed the issue where firmware update could fail on Gemini 335Le when global timestamp or heartbeat was enabled.

Document

OrbbecSDKv2 API User Guide, This document provides an overview of key features in the OrbbecSDK and demonstrates how to use its most commonly used APIs. For more detailed APIs, please refer to the document below:
API Reference: Orbbec_SDK_API_Reference.html

Download the Orbbec SDK package

The source code package contains all the content, including Orbbec SDK library files, header files, sample files, etc. for all platforms. Please download the source code package in the assets directly.

  1. Packages starting with OrbbecSDK are SDK packages for different platforms, containing precompiled binary files.
  2. Packages starting with OrbbecViewer are viewer packages that provide tools for interacting with Orbbec devices.
  3. The file OrbbecSDK_vx.x.x_win64.exe serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Windows.
  4. The file OrbbecSDK_vx.x.x_amd64.deb serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Linux x64,likes ubuntu.
  5. The file OrbbecSDK_vx.x.x_arm64.deb serves as the installation package for the Orbbec SDK and Orbbec Viewer tools on Arm64，likes NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX.
  • Notes: macOS is a beta version:
  1. macOS OrbbecSDK support M series chip, 11.0 and above; Intel x86 chip, 10.15 and above.
  2. macOS OrbbecViewer support M series chip, 11.0 and above.
  3. macOS supported products: Gemini 2, Gemini 2 L, Astra 2, Femto Mega, Gemini 330 series.

Install via .deb Package

  • On the Linux x64 (ubuntu) platform, install using the following command. (If you are using the Arm64 platform, please use OrbbecSDK_vx.x.x_arm64.deb)
sudo dpkg -i OrbbecSDK_v2.x.x_amd64.deb
  • Check the entire package path of the Orbbec SDK using dpkg -L orbbecsdk, while the header files and library files of the Orbbec SDK will be installed in the /usr/local path.
dpkg -L orbbecsdk
  • Run the Orbbec Viewer.
sudo ./OrbbecViewer

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Gemini 330 series 1.4.60 Gemini 330/330L/335/335L/336/336L/335Lg
Gemini 335Le 1.5.31
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.92
Gemini 2 L 1.4.53
Femto Bolt 1.1.2 unsupport macOS
Femto Mega 1.3.0
Femto Mega I 2.0.5
Astra 2 2.8.20

Supported platforms

  • Windows 10 or later: x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX
  • macOS: tested on M2 chip, OS version 13.2
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