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Release v2.2.3

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@jjiszjj jjiszjj released this 15 Feb 14:45
· 101 commits to main since this release
v2.2.3
123731a

What's New (since v2.1.1)

● Update Orbbec SDK v2.2.8

● Add new parameters in gemini_330_series.launch.py:

  • enable_hardware_noise_removal_filter(requires firmware v1.4.60 or above).
    Notes:
    enable_hardware_noise_removal_filter reduces CPU usage, but the depth data becomes sparser. On the other hand, enable_noise_removal_filter provides better results but consumes more CPU resources.
    You can use OrbbecViewer to switch between the two filters and observe the depth effect.
  • disparity_range_mode(requires firmware v1.4.60 or above).
  • disparity_search_offset(requires firmware v1.4.60 or above).
  • disparity_offset_config,offset_index0 and offset_index1(requires firmware v1.4.60 or above).
  • frame_aggregate_mode(requires firmware v1.4.60 or above).
  • enable_color_auto_exposure_priority
  • color_sharpness
  • color_gamm
  • color_saturation
  • color_constrast
  • color_hue
  • enable_color_backlight_compenstation

● Introduced benchmark to test cpu usage.
● Introduced lower_cpu_usage to reduce cpu usage of one or more cameras in OrbbecSDK_ROS2
● Introduced multi_camera_synced to use multi-camera synced in OrbbecSDK_ROS2
● New service control filter settings - DecimationFilter, HDRMerge, SequenceIdFilter, ThresholdFilter, NoiseRemovalFilter, HardwareNoiseRemoval, SpatialAdvancedFilter and TemporalFilter:/camera/set_filter
● gemini2.launch.py ​​and gemini2L.launch.py ​​add enable_decimation_filter and decimation_filter_scale parameters

Bug Fixes

● Renam decimation_filter_scale_ to decimation_filter_scale
● Fix imu_info frame_id error and initialize quaternion w value to 1.0
● Fix error when interleave_ae_mode is "hdr"
● Gemini 2 laser shutdown caused by using service to disable LDP

Supported devices

Product Serials Firmware Version Launch File
Gemini 330 series 1.4.60 gemini_330_series.launch.py
Gemini 335Lg 1.4.60 gemini_330_series.launch.py
Gemini 2 1.4.92 gemini2.launch.py
Gemini 2 L 1.4.53 gemini2L.launch.py
Femto Bolt 1.1.2 femto_bolt.launch.py
Femto Mega 1.3.0 femto_mega.launch.py
Astra 2 2.8.20 astra2.launch.py

Supported Platforms

  • Linux x64: Tested on Ubuntu 22.04 and 24.04
  • Linux ARM64: Tested on NVIDIA Jetson AGX Orin and NVIDIA Jetson AGX Xavier
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