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Release v2.4.3

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@jjiszjj jjiszjj released this 22 May 11:15
· 78 commits to main since this release
v2.4.3
c6fc73e

What's New (since v2.3.4)

● Update Orbbec SDK v2.4.3
● New support devices --Gemini 435Le
● Added do_rectify in the /camera_info topic (its function is to output whether the current image is dedistorted)

gemini_330_series.launch.py

  • Added upgrade_firmware param
  • Added color_powerline_freq param
  • Added enable_accel_data_correction param
  • Added enable_gyro_data_correction param
  • Added enable_disaparity_to_depth param
  • Added depth_precision param
  • Added align_target_stream param
  • Added [color|depth|left_ir|right_ir|ir]_rotation param
  • Added [color|depth|left_ir|right_ir|ir]_flip param
  • Added [color|depth|left_ir|right_ir|ir]_mirror param
  • Added enable_ptp_config param(Only Gemini 335Le)
  • Added disaparity_to_depth_mode param
  • Removed enable_hardware_d2d param

gemini2.launch.py

  • Added color_ae_roi_[left|right|top|bottom] param
  • Added depth_ae_roi_[left|right|top|bottom] param

femto_bolt.launch.py & femto_mega.launch.py

  • Added noise_removal_filter related parameters
  • Added decimation_filter related parameters
  • Added spatial_filter related parameters
  • Added temporal_filter related parameters
  • Added hole_filling_filter related parameters

service

  • Added /camera/set_[color|depth|left_ir|right_ir|ir]_flip service
  • Added /camera/set_[color|depth|left_ir|right_ir|ir]_rotation service
    For usage, please refer to service document

Bug Fixes

● Fixed the issue that decimation_filter_scale cannot be set to 8 and 0
● Fixed the program crash caused by using /camera/set_filter service

Supported devices

Product Serials Firmware Version Launch File
Gemini 435Le coming soon gemini435_le.launch.py
Gemini 330 series 1.4.60 gemini_330_series.launch.py
Gemini 335Lg 1.4.60 gemini_330_series.launch.py
Gemini 335Le 1.5.31 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
Assets 2
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