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feat: update README and CHANGELOG
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@@ -372,14 +372,17 @@ ros2 launch orbbec_camera gemini_intra_process_demo_launch.py
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## Use V4L2 backend
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To enable the V4L2 backend for the Gemini2 series cameras, follow these steps:
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OpenNI devices with UVC Color support can select the Linux UVC backend through the `uvc_backend` launch parameter when
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the corresponding launch file exposes it. The supported values are `auto`, `libuvc`, and `v4l2`, and the value is
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case-insensitive. The default value is `auto`, which keeps the backend selection from `config/OrbbecSDKConfig_v1.0.xml`.
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Unsupported values also fall back to the SDK XML configuration.
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1. The Gemini2 series cameras support the V4L2 backend.
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2. Open the `config/OrbbecSDKConfig_v1.0.xml` file.
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3. Set the navigation option to `LinuxUVCBackend`.
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4. Change the backend setting to `V4L2`.
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```bash
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ros2 launch orbbec_camera gemini2.launch.py uvc_backend:=v4l2
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```
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Note: The V4L2 backend is not enabled by default.
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The `uvc_backend` parameter is only available for devices that support `LinuxUVCDefaultBackend` in
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`config/OrbbecSDKConfig_v1.0.xml`.
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## Launch parameters
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@@ -427,7 +430,9 @@ The following are the launch parameters available:
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This feature is only supported by Femto Mega and Gemini 2 XL devices. When accessing these devices through the
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network, the IP address of the device needs to be configured in advance. The enable switch needs to be set to true.
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- `depth_filter_config`: Configures the loading path for the depth filtering configuration file. By default, the depth
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filtering configuration file is located in the /config/depthfilter directory. Supported only on Gemini2.
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filtering configuration file is located in the /config/depthfilter directory. Gemini2 can use `Gemini2_v1.8.json`;
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OpenNI and DaBaiMax series devices that expose this parameter can use `Openni_device.json` to configure filters such
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as outlier removal.
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- `depth_precision`: The depth precision should be in the format `1mm`. The default value is `1mm`.
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- `enable_laser`: Enables the laser. The default value is `true`.
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- `laser_on_off_mode`: Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate. The default value
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@@ -482,7 +487,10 @@ The following are the launch parameters available:
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- `color_brightness`: Color brightness.
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- `ir_brightness`: IR brightness.
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- `color_ae_max_exposure`: Color auto exposure maximum exposure.
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- `color_ae_max_gain`: Color auto exposure maximum gain. Supported by Gemini2 and Gemini2L.
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- `ir_ae_max_exposure`: IR auto exposure maximum exposure.
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- `uvc_backend`: Selects the Linux UVC Color backend for supported OpenNI devices. Optional values are `auto`, `libuvc`,
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and `v4l2`; the default value is `auto`.
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- `enable_hardware_reset`: This option enables the hardware reset function. By default, it is set to `false`.
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If set to `true`, the camera will reboot upon its first connection.
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+12
-7
@@ -374,14 +374,15 @@ ros2 launch orbbec_camera gemini_intra_process_demo_launch.py
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## 使用V4L2后端
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要为 Gemini2 系列相机启用 V4L2 后端，请按以下步骤操作：
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带 UVC Color 的 OpenNI 设备如果在对应 launch 文件中暴露了 `uvc_backend` 参数，可以通过该参数选择 Linux
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UVC 后端。可选值为 `auto`、`libuvc`、`v4l2`，大小写不敏感。默认值为 `auto`，表示沿用
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`config/OrbbecSDKConfig_v1.0.xml` 中的 SDK 配置；不支持的取值也会回退到 SDK XML 配置。
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1. Gemini2 系列相机支持 V4L2 后端。
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2. 打开 `config/OrbbecSDKConfig_v1.0.xml` 文件。
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3. 将导航选项设置为 `LinuxUVCBackend`。
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4. 将后端设置更改为 `V4L2`。
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```bash
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ros2 launch orbbec_camera gemini2.launch.py uvc_backend:=v4l2
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```
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注意：默认情况下未启用 V4L2 后端。
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仅 `config/OrbbecSDKConfig_v1.0.xml` 中支持 `LinuxUVCDefaultBackend` 的设备会提供 `uvc_backend` 参数。
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## Launch参数
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@@ -415,7 +416,9 @@ ros2 launch orbbec_camera gemini_intra_process_demo_launch.py
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- `gyro_range`: 陀螺仪的范围，可选值为 `16dps`, `31dps`, `62dps`, `125dps`, `250dps`, `500dps`, `1000dps`, `2000dps`. 具体值取决于当前相机。
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- `enumerate_net_device`: 启用枚举网络设备的功能。true 表示启用，false 表示禁用。
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此功能仅支持 Femto Mega 和 Gemini 2 XL 设备。通过网络访问这些设备时，需要提前配置设备的 IP 地址。启用开关需要设置为 true。
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- `depth_filter_config`: 配置深度过滤配置文件的加载路径。默认情况下，深度过滤配置文件位于 /config/depthfilter 目录。仅 Gemini2 支持。
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- `depth_filter_config`: 配置深度过滤配置文件的加载路径。默认情况下，深度过滤配置文件位于 /config/depthfilter 目录。Gemini2
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可使用 `Gemini2_v1.8.json`；暴露该参数的 OpenNI 和 DaBaiMax 系列设备可使用 `Openni_device.json`
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配置离群点滤波等效果。
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- `depth_precision`: 深度精度应采用 `1mm`格式。默认值为 `1mm`。
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- `enable_laser`: 启用激光。默认值为 `true`。
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- `device_preset`: 默认值为 `Default`。仅支持 G330 系列。更多信息，请参阅 [G330 文档](https://www.orbbec.com/docs/g330-use-depth-presets/)。请参考下表，根据您的使用情况设置 `device_preset` 值。该值应为[表格](#预设presets) 中列出的预设名称之一。
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@@ -438,7 +441,9 @@ ros2 launch orbbec_camera gemini_intra_process_demo_launch.py
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- `color_brightness`: 设置彩色流亮度。
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- `ir_brightness`: 设置红外流亮度。
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- `color_ae_max_exposure`: 设置彩色流自动曝光最大曝光值。
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- `color_ae_max_gain`: 设置彩色流自动曝光最大增益值。Gemini2 和 Gemini2L 支持。
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- `ir_ae_max_exposure`: 设置红外流自动曝光最大曝光值。
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- `uvc_backend`: 设置支持该参数的 OpenNI 设备 UVC Color Linux 后端。可选值为 `auto`、`libuvc`、`v4l2`，默认值为 `auto`。
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**重要提示**：*请仔细阅读[此链接](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/)中关于软件过滤设置的说明。如果您不确定，请勿修改这些设置。*
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@@ -2,6 +2,13 @@
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Changelog for package orbbec_camera
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.5.20 (2026-06-23)
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-------------------
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* Update OrbbecSDK to v1.10.36
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* Add color auto exposure max gain launch parameter ``color_ae_max_gain`` for Gemini2 and Gemini2L
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* Add ``uvc_backend`` launch parameter for OpenNI devices with UVC Color backend support
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* Add DaBaiMax series depth filter config support for outlier filtering through JSON files
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1.5.14 (2025-09-30)
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-------------------
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* Bump version to 1.5.14
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