Release v2.4.3

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

Release v2.3.4

What's New (since v2.2.3)

● 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
● Add new parameters in gemini_330_series.launch.py:

• enumerate_net_device(Gemini 335Le connection parameters required).
• net_device_ip(Gemini 335Le connection parameters required).
• net_device_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.py:

• depth_ae_roi_left
• depth_ae_roi_right
• depth_ae_roi_top
• depth_ae_roi_bottom

● Update parameters in femto_bolt.launch.py and femto_mega.launch.py:

• Remove:
  • enable_soft_filter
  • soft_filter_max_diff
  • soft_filter_speckle_size
• Add:
  • enable_threshold_filter
  • threshold_filter_max
  • threshold_filter_min

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.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

Release v2.2.3

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

Release v2.1.1

Changelog (since v2.0.7)

1. Update Orbbec SDK v2.1.1
2. Fix service settings for abnormal laser switch
3. Fix the issue of invalid usb_port startup for a single camera specified under multiple cameras
4. Two encoding formats have been added to the color stream: RGBA and BGRA
5. Three new features have been added to the services:

• set_reset_timestamp:Clear timestamp function,only takes effect when the device is set in time_domain
• set_sync_interleaverlaser:Using laser pattern sync with alternating frames and multi cameras synchronization
• set_sync_hosttime:Sync immediate function under multi cameras synchronization,only takes effect when the device is set in time_domain

6. The metadataexport, metadatasave, and multisavergbir tool nodes use json files to pass in parameters
7. Abandoning use_hardware_time in the launch file instead of time_domain
8. Update OrbbecSDKConfig_v1.0.xml to OrbbecSDKConfig_v2.0.xml
9. Set auto_exposure to take precedence over exposure parameters
10. Add interleave_ae related parameters in launch
11. Remove laser_on_off_mode param in launch
12. Delete timed sync
13. Other bug fixed

Issues Addressed (since v2.0.7)

1. Sync_mode Not Working When Connecting Multiple Femto Bolt Devices
2. Error on camera info topics retrieval in ROS2

Limitations

Using uvc_backend param, you need to unplug the camera when switching from libuvc to v4l2, otherwise the camera device will not be found

Release v2.0.7

Release Notes

With the major update of the new branch v2-main in October 2024, OrbbecSDK_ROS2 is connected to the open source version of OrbbecSDK v2, which will make OrbbecSDK_ROS2 more flexible and extensible.
This is the first stable release of OrbbecSDK_ROS2 v2. Thank you for your interest in Orbbec! If you have any questions or feedback, please let us know in the issues channel.

Changelog (since v1.5.8-rc)

1. access to the open source version of OrbbecSDK v2
2. Update Orbbec SDK v2.0.18
3. Add several test tools
4. Other improvements and several bug fixes

Supported Platforms

• Linux x64: Tested on Ubuntu 20.04, 22.04 and 24.04
• Linux ARM64: Tested on AGX Orin and AGX Xavier

Supported devices

Product Serials	Firmware Version	Launch File
Astra2	2.8.20	astra2.launch.py
Femto mega	1.1.7 / 1.2.7	femto_mega.launch.py
Femto bolt	1.0.6 / 1.0.9	femto_bolt.launch.py
Gemini2	1.4.60 / 1.4.76	gemini2.launch.py
Gemini2L	1.4.32	gemini2L.launch.py
Gemini 335	1.2.20	gemini_330_series.launch.py
Gemini 335L	1.2.20	gemini_330_series.launch.py
Gemini 335Lg	1.3.46	gemini_330_series.launch.py
Gemini 336	1.2.20	gemini_330_series.launch.py
Gemini 336L	1.2.20	gemini_330_series.launch.py

Release v1.5.8

What's Changed

• Fix CMakeLists.txt at orbbec_description by @Kashery in #41
• Fixed jazzy and iron compile error
• Remove glog dependence
• Fixed the issue of point cloud distortion in femto bolt

New Contributors

• @Kashery made their first contribution in #41

Full Changelog: v1.5.7...v1.5.8

Release v1.5.7

• Update OrbbecSDK v1.10.8

Release v1.5.5

• Fixed crash when point cloud is not enabled

Release v1.5.4

Release Notes

1、fix the alignment issue of the colored point cloud.
2、Modify the default value of noise_removal_filter_min_diff in the launch file for the Gemini 330 series.
3、update Documentation

Release v1.5.2

Release Notes for Version 1.5.2

New Features:

• G330 Series Camera Support: Now supporting the G330 series. For more details, see the OrbbecSDK 1.10.5 release notes at OrbbecSDK v1.10.5.
• Metadata Topic for Frames: Added a new topic for reading metadata from frames.
• IMU Info Topic: Introduced a new topic for IMU information.

Bug Fixes:

• Fixed other potential bugs that could lead to crashes.

We recommend updating to the latest version for improved functionality and stability.