Release v2.3.4

What's New (since v2.2.4)

● Update Orbbec SDK v2.3.5
● New support device --Gemini 335Le
● Modify the default value of the enable_hardware_noise_removal_filter parameter -- from true to false
● Modify the default value of the enable_noise_removal_filter parameter -- from false to true
● Add new parameters in gemini_330_series.launch:

• enumerate_net_device(Gemini 335Le connection parameters required).
• ip_address(Gemini 335Le connection parameters required).
• port(Gemini 335Le connection parameters required).
• exposure_range_mode(Only Gemini 335Le)
• hardware_noise_removal_filter_threshold
• enable_left_ir_sequence_id_filter
• left_ir_sequence_id_filter_id
• enable_right_ir_sequence_id_filter
• right_ir_sequence_id_filter_id

● Add new parameters in gemini2.launch:

• depth_ae_roi_left
• depth_ae_roi_right
• depth_ae_roi_top
• depth_ae_roi_bottom

● Remove parameters in femto_bolt.launch and femto_mega.launch:

• enable_decimation_filter and other filter parameters
• enable_hdr_merge and other filter parameters
• enable_sequenced_filter and other filter parameters
• enable_noise_removal_filter and other filter parameters
• enable_spatial_filter and other filter parameters
• enable_temporal_filter and other filter parameters
• enable_hole_filling_filter and other filter parameters
• sequence_id_filter_id and other filter parameters

Bug Fixes

● Fixed the problem that the distortion_model in the camera_info topic is always rational_polynomial. Now the current version of distortion_model outputs the correct distortion model

Supported devices

Product Serials	Firmware Version	Launch File
Gemini 330 series	1.4.60	gemini_330_series.launch
Gemini 335Lg	1.4.60	gemini_330_series.launch
Gemini 335Le	1.5.31	gemini_330_series.launch
Gemini 2	1.4.92	gemini2.launch
Gemini 2 L	1.4.53	gemini2L.launch
Femto Bolt	1.1.2	femto_bolt.launch
Femto Mega	1.3.0	femto_mega.launch
Astra 2	2.8.20	astra2.launch

Supported Platforms

• Linux x64: Tested on Ubuntu 20.04
• Linux ARM64: Tested on AGX Orin and AGX Xavier