diff --git a/README.MD b/README.MD index a11ac7c2..d01b8fe4 100644 --- a/README.MD +++ b/README.MD @@ -372,14 +372,17 @@ ros2 launch orbbec_camera gemini_intra_process_demo_launch.py ## Use V4L2 backend -To enable the V4L2 backend for the Gemini2 series cameras, follow these steps: +OpenNI devices with UVC Color support can select the Linux UVC backend through the `uvc_backend` launch parameter when +the corresponding launch file exposes it. The supported values are `auto`, `libuvc`, and `v4l2`, and the value is +case-insensitive. The default value is `auto`, which keeps the backend selection from `config/OrbbecSDKConfig_v1.0.xml`. +Unsupported values also fall back to the SDK XML configuration. -1. The Gemini2 series cameras support the V4L2 backend. -2. Open the `config/OrbbecSDKConfig_v1.0.xml` file. -3. Set the navigation option to `LinuxUVCBackend`. -4. Change the backend setting to `V4L2`. +```bash +ros2 launch orbbec_camera gemini2.launch.py uvc_backend:=v4l2 +``` -Note: The V4L2 backend is not enabled by default. +The `uvc_backend` parameter is only available for devices that support `LinuxUVCDefaultBackend` in +`config/OrbbecSDKConfig_v1.0.xml`. ## Launch parameters @@ -427,7 +430,9 @@ The following are the launch parameters available: This feature is only supported by Femto Mega and Gemini 2 XL devices. When accessing these devices through the network, the IP address of the device needs to be configured in advance. The enable switch needs to be set to true. - `depth_filter_config`: Configures the loading path for the depth filtering configuration file. By default, the depth - filtering configuration file is located in the /config/depthfilter directory. Supported only on Gemini2. + filtering configuration file is located in the /config/depthfilter directory. Gemini2 can use `Gemini2_v1.8.json`; + OpenNI and DaBaiMax series devices that expose this parameter can use `Openni_device.json` to configure filters such + as outlier removal. - `depth_precision`: The depth precision should be in the format `1mm`. The default value is `1mm`. - `enable_laser`: Enables the laser. The default value is `true`. - `laser_on_off_mode`: Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate. The default value @@ -482,7 +487,10 @@ The following are the launch parameters available: - `color_brightness`: Color brightness. - `ir_brightness`: IR brightness. - `color_ae_max_exposure`: Color auto exposure maximum exposure. +- `color_ae_max_gain`: Color auto exposure maximum gain. Supported by Gemini2 and Gemini2L. - `ir_ae_max_exposure`: IR auto exposure maximum exposure. +- `uvc_backend`: Selects the Linux UVC Color backend for supported OpenNI devices. Optional values are `auto`, `libuvc`, + and `v4l2`; the default value is `auto`. - `enable_hardware_reset`: This option enables the hardware reset function. By default, it is set to `false`. If set to `true`, the camera will reboot upon its first connection. diff --git a/README_CN.MD b/README_CN.MD index 4895dd4e..e98d4c67 100644 --- a/README_CN.MD +++ b/README_CN.MD @@ -374,14 +374,15 @@ ros2 launch orbbec_camera gemini_intra_process_demo_launch.py ## 使用V4L2后端 -要为 Gemini2 系列相机启用 V4L2 后端，请按以下步骤操作： +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 +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 +`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。 -1. Gemini2 系列相机支持 V4L2 后端。 -2. 打开 `config/OrbbecSDKConfig_v1.0.xml` 文件。 -3. 将导航选项设置为 `LinuxUVCBackend`。 -4. 将后端设置更改为 `V4L2`。 +```bash +ros2 launch orbbec_camera gemini2.launch.py uvc_backend:=v4l2 +``` -注意：默认情况下未启用 V4L2 后端。 +仅 `config/OrbbecSDKConfig_v1.0.xml` 中支持 `LinuxUVCDefaultBackend` 的设备会提供 `uvc_backend` 参数。 ## Launch参数 @@ -415,7 +416,9 @@ ros2 launch orbbec_camera gemini_intra_process_demo_launch.py - `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。 - `enumerate_net_device`: 启用枚举网络设备的功能。true 表示启用，false 表示禁用。 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。 -- `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。 +- `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 + 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` + 配置离群点滤波等效果。 - `depth_precision`: 深度精度应采用 `1mm`格式。默认值为 `1mm`。 - `enable_laser`: 启用激光。默认值为 `true`。 - `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。 @@ -438,7 +441,9 @@ ros2 launch orbbec_camera gemini_intra_process_demo_launch.py - `color_brightness`: 设置彩色流亮度。 - `ir_brightness`: 设置红外流亮度。 - `color_ae_max_exposure`: 设置彩色流自动曝光最大曝光值。 +- `color_ae_max_gain`: 设置彩色流自动曝光最大增益值。Gemini2 和 Gemini2L 支持。 - `ir_ae_max_exposure`: 设置红外流自动曝光最大曝光值。 +- `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`。 **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。* diff --git a/orbbec_camera/CHANGELOG.rst b/orbbec_camera/CHANGELOG.rst index c6ac454d..807fe063 100644 --- a/orbbec_camera/CHANGELOG.rst +++ b/orbbec_camera/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package orbbec_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.20 (2026-06-23) +------------------- +* Update OrbbecSDK to v1.10.36 +* Add color auto exposure max gain launch parameter ``color_ae_max_gain`` for Gemini2 and Gemini2L +* Add ``uvc_backend`` launch parameter for OpenNI devices with UVC Color backend support +* Add DaBaiMax series depth filter config support for outlier filtering through JSON files + 1.5.14 (2025-09-30) ------------------- * Bump version to 1.5.14