^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package orbbec_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Forthcoming ----------- * Update OrbbecSDK to v2.5.5 * add new launch files and benchmark tools * Add new features: forceIp, ISP denoising, extrinsic control, etc. * Improve parameters and defaults * Fix parameter typos, remove deprecated functions, and other bug fixes * Contributors: obyalian, slz, xiexun 2.4.7 (2025-09-01) ------------------ * Add static transform accel_gyro_optical_frame * Change the default value of EnumerateNetDevice in the SDK config file to false‌ * Fix queryDevice thread * Fix crash by improving lock handling * Remove mallopt to save CPU usage * Docs: fix comment typos * Fix firmware update and avoid colcon symlink issues * Fix device disconnection after reboot service call 2 * Fix device disconnection after reboot service call * Rename 'depth_brightness' to 'mean_intensity_set_point', keep old param for compatibility * Fix typo in setPtpConfigCallback * Rename 'mean_intensity_set_point' to 'depth_brightness' in launch parameters and update related documentation * Update Orbbec SDK to version 2.4.11 * Fix reboot_device service * Bump package version to 2.4.6 in package.xml * Update Orbbec SDK to version 2.4.10 and modify related configurations - Updated the OrbbecSDKConfig-release.cmake files for both arm64 and x64 architectures to reference the new SDK version 2.4.10. - Replaced occurrences of 'depth_brightness' with 'mean_intensity_set_point' in launch files and the camera node header to improve clarity and consistency. - Added new spatial filtering options (SpatialFastFilter and SpatialModerateFilter) in the camera node implementation, including parameters for radius, magnitude, and difference threshold. - Updated the setupDevices and setupDepthPostProcessFilter methods to handle the new mean intensity setting and spatial filter parameters. - Modified launch files for various examples to reflect the new argument names and added new parameters for spatial filtering. * Add FPS counter functionality to OBCameraNode * Contributors: datean, obyalian, xiexun, yalian 2.4.5 (2025-07-04) ------------------ * bump to v2.4.5 * Update SDK version to v2.4.8 * Add gemini210.launch.py * Update package.xml * bump to v2.4.4 * Update SDK version to v2.4.7 * Change the service name of set_software_trigger_enabled to send_software_trigger * Add .camke-format.py and format CMakeLists.txt * Add set_software_trigger_enabled param and service * Fix compilation issues caused by modifying camera_info data content * Update camera_info data content * Add color decimation filter in gemini2.launch.py and gemini2L.launch.py * Update multi_camera_synced_verification_tool README.MD * Contributors: jj 2.4.3 (2025-05-22) ------------------ * Update README.MD * Update examples launch * Update OrbbecSDKConfig_v2.0.xml * Add enable_color_auto_exposure param in gemini_330_series.launch.py * bump to v2.4.3 * Update SDK version to v2.4.3 * bump to v2.4.2 * Update SDK verison to v2.4.2 * Fix the abnormal connection problem of multiple network cameras * Update multi_camera_synced_verify.launch.py * Fix the crash problem caused by starting the upgrade_firmware param for a single camera when multiple cameras are connected on the PC. * Update frame_aggregate_mode description * Update disaparity_to_depth_mode parameter default value * Update gemini_synced_verify.launch.py and add disaparity_to_depth_mode write condition judgment * Modify the noise removal filter default value * Replace enable_hardware_d2d param with disaparity_to_depth_mode * bump to v2.4.1 * Fix DaBai A and DaBai AL not being able to use imu * Fix the issue that decimation_filter_scale cannot be set to 1 * Fix color_powerline_freq * Add /camera/set_write_customer_data and /camera/set_read_customer_data service for Gemini 435Le * Update filter parameters in astra2.launch.py , gemini2.launch.py and gemini2L.launch.py * Add gemini435_le.launch.py * Add hole_filling_filter_mode param in femto_bolt.launch.py and femto_mega.launch.py * Add noise removal filter, decimation filter, spatial filter, temporal filter and hole filling filter * bump to v2.4.0 * Update README * Add enable_ptp_config param for Gemini 335Le * Add dabai_al.launch.py * Change the implementation conditions of decimation_filter for Gemini 2/Gemini 2 L * Fix PID output of list_devices_node * Add rotation, flip and mirror parameters and services * Update sdk version to v2.4.1 * Update list_devices_node * Add dabai_a.launch.py * Add do_rectify in the camera_info topic (to determine whether to process distortion) * Add align_target_stream param in gemini_330_series.launch.py * Update README.MD * Update 99-obsensor-libusb.rules * Fix the issue that decimation_filter_scale cannot be set to 8 * Update multi_save_rgbir tool to be compatible with other camera devices (net devices are not supported yet) and removed metadata_export, metadata_save tools * Update README.MD * Add custom Gemini 336&Gemini 336L product id * Add depth_precision param in gemini_330_series.launch.py * Add enable_disaparity_to_depth param in gemini_330_series.launch.py * Add enable_accel_data_correction and enable_gyro_data_correction parameters in gemini_330_series.launch.py * Add color_powerline_freq param in gemini_330_series.launch.py * Add upgrade_firmware param in gemini_330_series.launch.py * Update setting set_color/depth_ae_roi service area range * Update setting color and depth roi parameters area range * Fix a crash caused by using /camera/set_filter service * Add load_config_json_file_path and export_config_json_file_path parameters * Contributors: jj 2.3.4 (2025-04-21) ------------------ * Update gmsl_camera example * Update multi_camera_synced_verification_tool README.MD * Remove noise removal filter params and add threshold filter params in femto_bolt.launch.py, femto_mega.launch.py * Update Filter Configuration Impact in lower_cpu_usage README * Add noise removal filter related parameters in femto_bolt.launch.py, femto_mega.launch.py * Add roi related parameters in gemini2.launch.py * bump to v2.3.4 * Update SDK version to v2.3.5 * bump to v2.3.3 * Update SDK version to v2.3.4 * Add exposure_range_mode param in gemini_330_series.launch.py * bump to v2.3.2 * Update SDK version to v2.3.3 * Fixed hot-plug crash caused by diagnostic updater * bump to v2.3.1 * Update SDK version to v2.3.2 * Fix the crash problem caused by connecting to network devices * Update gemini_330_series.launch.py ​​network device description * Fix connect net device bug * Update distortion_model ouput * Fix the failure of setting hardware_noise_removal_filter_threshold in serivce * Update gemini2.launch.py ​​to be compatible with Gemini 210 and Gemini 215 * bump to v2.3.0 * bump to v2.2.5 * Add enable_left_ir_sequence_id_filter,left_ir_sequence_id_filter_id,enable_right_ir_sequence_id_filter and right_ir_sequence_id_filter_id in gemini_330_series.launch.py * Add hardware_noise_removal_filter_threshold param in gemini_330_series.launch.py * Add Gemini 210 and Gemini 215 device rules * Update the name of the distortion model in camera_info * Update sdk version to v2.3.1 * Update multi camera synced * Fix Gemini2L laser shutdown caused by LDP shutdown * Add AE ROI setting param in gemini_330_series.launch.py * Add service to set color and depth ROI * Fix the bug that hot-plugging and reconnecting failed when starting multi cameras using serial_number * Update multi_camera.launch.py * Contributors: jj 2.2.4 (2025-02-28) ------------------ * Update camera_params.yaml * Roll back enable_lrm to enable_ldp * bump to v2.2.4 * Fix the bug that Gemini 2 turned off LDP and caused the laser to turn off * Add update Preset Firmware function, associated parameter preset_firmware_path * Updated README for benchmark example * Updated README for multi_camera_synced_verification_tool examples * Add net_camera examples * Add gmsl_camera example * Add disparity_search_offset examples * Add interleave_ae_mode examples * Update examples README * Add multi_camera_synced_verification_tool example * Add enable_color_decimation_filter and color_decimation_filter_scale param * Rename depth_mean_intensity_set_point to depth_brightness * Add lrm_power_level param * Rename LDP to LRM * Add depth_mean_intensity_set_point param * Add enable_depth_auto_exposure_priority param * Set the device timestamp to 60 seconds * Update multi_save_rgbir tool * Add private instruction 2026 to interleave_frame * Fix the bug that enable_sequence_id_filter does not work * Change the enable_color_auto_exposure_priority and enable_color_backlight_compenstation parameter types to bool type * Update multi_save_rgbir tool * Contributors: jj 2.2.3 (2025-02-15) ------------------ * Update multi_camera_lower_cpu_usage.launch.py * bump to v2.2.3 * Update sdk version to v2.2.8 * Fix the crash bug caused by enable_d2c_viewer in hotplug * Fix the bug that the service control SequenceIdFilter setting is invalid * Fix the bug that the launch file in examples is not available * Remove cpuid.h in benchmark node * Add multi_camera_synced and examples README.MD * Update benchmark README.MD in examples * Update benchmark and lower_cpu_usage in examples * bump to v2.2.2 * Update sdk version to v2.2.7 * Add enable_color_backlight_compenstation param * Add enable_color_auto_exposure_priority param * Add color_sharpness、color_gamma、color_saturation、color_constrast and color_hue params * Fix the problem that shutting down LDP using service causes laser to shut down * Add service switch and parameter setting interface for DecimationFilter, HDRMerge, SequencedFilter, ThresholdFilter, NoiseRemovalFilter, HardwareNoiseRemoval, SpatialAdvancedFilter and TemporalFilter * Fix the issue that disparity_offset_config cannot be turned off * Modify the default value of time_domain\_ to global * Add ob_benchmark_node tool and benchmark examples * Delete multicamera_sync * Delete start_multi_sync.sh * Add decimation_filter related parameters to the launch of Gemini 2 and Gemini 2 L * Delete dabai_a.launch and dabai_al.launch * Add dabai_a.launch, dabai_al.launch and update 99-obsensor-libusb.rules * Add multi-camera sync tool and readme * Fix disparity_search_offset and offset_index valid range check * [launch]Add enable_hardware_noise_removal_filter param in launch * Update orbbec_multicamera.launch.py * [service] Add set_noise_removal_filter_enable and fix setAllSoftwareFilterEnableCallback * [service] add set_all_software_filter_enable * [service] add set_spatial_filter_enable and set_temporal_filter_enable and set_hole_filling_filter_enable * [service] add set_threshold_filter_enable * [service] add set_sequence_id_filter_enable * [service] add set_decimation_filter_enable * [launch]Set the default values ​​of disparity_search_offset, offset_index0, and offset_index1 to -1 * bump to v2.2.1 * [SDK]Update SDK version to v2.2.1 * [launch]Add disparity_range_mode param * bump to v2.2.0 * [launch]Add frame_aggregate_mode param in launch * Fix device lock issue in OBCameraNodeDriver::startDevice * [launch]Update parameter default values * Add disparity search offset * [SDK]Update sdk version to v2.2.0 * Remove unused YAML files * Update orbbec_multicamera.launch.py and orbbec_camera.launch.py * add orbbec_multi_synced.launch.py * Update orbbec_multicamera.launch.py and yaml * Remove enable_3d_reconstruction_mode param * [yaml]Update camera yaml parameter configuration file * Fixed the error when interleave_ae_mode is "hdr" * Contributors: jj, zhuangzi 2.1.1 (2024-12-24) ------------------ * Restore docs * Update the frame_id when enable_sync_output_accel_gyro is set to true * Update docs and delete timed sync * Fix the imu_info frame_id bug and initialize the quaternion's w value to 1.0 * Modify the print format * No longer judging depth_laser_status * Remove unnecessary judgments to avoid reducing the color frame rate * apply setAlignToStreamProfile API * [launch]Rename the decimation_filter_scale parameter * Fix loading interleave_ae parameter error * Update interleave_ae parameter setting order * bump to v2.1.1 * [SDK]Update SDK version to v2.1.1 * [yaml]Update common.yaml and gemini330_series.yaml * Fix does not initialize filters * [launch]Restore parameter default values * bump to v2.1.0 * [docs]Update docs * [launch]Add new launch and yaml description files for v2-main-dev * [tool]Fix the crash problem caused by multi_save_rgbir_node when saving images * [sdk]Update SDK version to v2.1.0 * [launch]Remove laser_on_off_mode params * [launch]Add uvc_backend params * [tool]Fixed the crash problem when saving images in multi_save_rgbir_node * Fix multi_save_rgbir_node crash * [tool]Improve multi_save_rgbir_params.json structure and trigger mode * Updated interleave_ae description * [tool]Improve multi_save_rgbir_node * [interleave_ae]Added parameter settings for interleave frames 0 and 1 * [launch]Modify the multi_camera_synced.launch.py ​​camera startup interval * [launch]Modify the default value of interleave_frame_enable * [interleave_ae]Added interleave_ae_mode * bump to v2.0.9 * [sdk]update sdk version to v2.0.24 * [exposure]Set auto_exposure to take precedence over exposure parameters * [SDK]Restore the SDK version to v2.0.21 * Fix the problem that the Femto series cannot set sync_mode * [service]Fix SYNCInterleaveLaserCallback * bump to v2.0.9 * [sdk]update sdk version to v2.0.24 * update about laser revise * Add local variable pid of LASER_CONTROL * [laser control]fix laser settings * [service]add set_sync_interleaverlaser and set_sync_hosttime * update multi_save_rgbir_params.json * add max_size and min_diff judgment * [config]Update OrbbecSDKConfig * [time_domain]Fix the improper use of enableGlobalTimestamp * [service] update multi synced reset timestamp * Updated to version 2.0.21 with hash 8b662c1b * Abandon use_hardware_time and use time_domain * update SDK to version 2.0.21 * Modify the interface getRecommendedFilters to createRecommendedFilters * bump to v2.0.8 * Refactor depth filter configuration * d2c delete G355 judgment * update sdk version to v2.0.20 * Write the tool node parameters into a json file * Fix incorrect usage of getRecommendedFilters * Delete orb_device_lock when the program exits、list_devices_node add USB port type and update multi_save * Deleting Printouts * add rest timestamp and syncImmediately service * Color flow adds rgba and bgra * Failed to start USB setting for specified single camera * fix laser settings * modify rclcpp::Duration to be compatible with both Humble and Foxy * resolve the compilation failure issue in Foxy * Change the camera support launch * add frame loss judgment but service switch color or depth does not work * improve multi_save_rgbir_node * bump to v2.0.7 * update SDK to v2.0.18 * replace service enable_laser connector * fix g300 turning off color and depth causes other streams to behave abnormally * update SDK to 1017 v2.0.16 * support G335Lg multi camera sync * bump to v2.0.6 * update SDK to 1016 v2.0.15 * Update libob_frame_processor.so * fixed jazzy compile error * update SDK to 1012 v2.0.14 * bump to v2.0.5 * fixed color point cloud * Add obsdk v2.0.13 and update rossdk v2.0.4 * Add SDK error judgment * Update SDK sdk to v2.0.11 * fixed depth point cloud Y mirrored * enable sync time to host * fix depth point cloud image * update OrbbecSDKConfig * update OrbbecSDKConfig * Modify default param * chore: fixed compile error * Modify the json directory * update arm64 sdk * update 2.0.3 * Add export json * Add export_params * Add some tools * 1. fix nvblox crash bug * 1. fix use-intra-process-comms color and depth params * Add enable_hardware_d2d * Add gemini_intra_process_demo * Add zero copy * Add zero copy * Alignment Closed Source * delete multi_save * fixed missing filesystem header * bump to v2.0.1 * remove arm32 old sdk * update arm sdk to 0912 * Add extension path * multi_save_rgbir * chore: Add list_devices_node executable to orbbec_camera CMakeLists.txt * Fix issue with initializing device and enable sync host time * Update SDK to 0910 * fixed compile error * add Multigmsl * fixed filter mem leak * update opensdk to v2.0.7 * 新增ARM64 * 添加三方库，extensions三方库文件可剪切到build的同级目录下 * 修复colored_point_cloud * updata libOrbbecSDK.so , ob_camera_node and CMakeLists.txt * updata libOrbbecSDK.so , ob_camera_node and CMakeLists.txt * chore: Update OBCameraNode setupDevices() with property settings * chore: Add TRY_EXECUTE_BLOCK macro for error handling in OBCameraNodeDriver * chore: Add TRY_EXECUTE_BLOCK macro for error handling in OBCameraNodeDriver * chore: Improve error handling and logging in OBCameraNodeDriver * chore: Add check when init device failed * chore: Add crash stack trace logging on signal handler * chore: update SDK * chore: remove backward-cpp use backward-ros * chore: add backward-cpp for crash trace * chore: add count fps * Merge pull request #59 from orbbec/zerocopy chore: add gemini_intra_process_demo * chore: add gemini_intra_process_demo * fixed align filter * chore: add more log * chore: Clear distortion for color stream when color undistortion is enabled * feat: drop depth when color not lost and D2C enable * feat: Enable noise removal filter in camera node setup * add connectionType in log * add topic statics * change: move tool node to tools dir * fixed g330 depth * chore: update SDK * bump to v1.5.11 * add enable heartbeat in launch file * chore: Refactor OBCameraNode setupTopics() method * chore: Update connection delay default value to 10 milliseconds * chore: Add enable_color_undistortion param * chore: Fix start device time calculation in OBCameraNodeDriver * chore: Update README && add enable heartbeat param * chore: Add error handling for failed depth sensor filter retrieval * chore: extract setupDepthPostProcessFilter() * remove big try catch block * Fix baseline sign * add reboot device inteface * Fixed wrong ir frame id * feat: Enable HDR merge filter in OBCameraNode setupDevices() * bump to v1.5.10 * Update SDK lib to version 1.10.11 * chore: Update multi camera launch example * chore: Update g330 launch file * chore: Add time domain params * Update gemini 330 series launch file * Add min depth and max depth limit in launch file * Add min depth and max depth limit * fixed bug #53 * fixed depth no laser status * publish static tf by defulat * add get_ldp_measure_distance * chore: fixed path error * add help scripts * Fix publishing static transform order in OBCameraNode * Add help scipts * Fix negative translation value in OBCameraNode * Fix left and right IR calibration error in OBCameraNode * chore: Update time sync interface * chore: Refactor gemini_330_series.launch.py for improved readability and maintainability * chore: Optimal gemini 330 launch file * chore: Disable 3D reconstruction mode by default * Add enable_3d_reconstruction_mode params for 3d reconstruction scenario * Fixed right ir error * Fixed bolt tf error * Update SDK to v1.10.9 * Fix issue #44 * disable point cloud by default * disable point cloud by default * chore: add license * Contributors: Joe Dong, daiyin, datean, datean@123, jj 1.5.8 (2024-06-22) ------------------ * chore: Update Orbbec ROS2 SDK version to 1.5.8 * Update: Fixed wrong depth point cloud * Update: Fixed the issue of point cloud distortion in femto bolt * Update: fixed iron compile error * chore: Add LDP switch * chore: Fixed ros2 jazzy compile error * chore: set bolt imu to 200hz * chore: Remove glog deps * chore: Add exposure && gain && white balance params * Add laser energy level param limit * Add laser energy level param * Add print default filter params * Fixed femto bolt config * Contributors: Joe Dong 1.5.7 (2024-06-05) ------------------ * Update SDK config * Bump to v1.5.7 * Update SDK to v1.10.8 * fixed save image crash * fixed save point cloud crash * fixed pid to lower case * Bump to v1.5.6 * Fixed bolt align * Update setupPipelineConfig: put set depth scale out * Update SDK to v1.10.7 * update sync mode default to standalone * update PointCloud.rviz * Contributors: Joe Dong 1.5.5 (2024-05-22) ------------------ * bump to v1.5.5 * fixed crash * Fixed create diagnstic * use unique_ptr publish point cloud * chore: Disable array bounds warning in CMakeLists.txt * Contributors: Joe Dong 1.5.4 (2024-05-15) ------------------ * update Default sync mode * add more debug log * Update filter default params * bump to v1.5.4 * chore: Refactor OBCameraNode setupPipelineConfig method * Fixed filter params * Fixed filter params * Contributors: Joe Dong 1.5.2 (2024-05-12) ------------------ * Update SDK to v1.10.5 * chore: Add dependencies libgflags-dev, nlohmann-json-dev, and libgoogle-glog-dev * Bump to v1.5.2 * Update SDK to v1.10.4 * chore: Remove unused color_frame variable in OBCameraNode * chore: Update camera node to use microsecond timestamps for system time * Fix depth filter process when frame is nullptr * Bump to v1.5.1 * Update SDK to v1.10.3 * Update launch file name * fixed race condition * chore: update list profile * chore: use default stream profile * chore: rename camera launch file name * chore: rename gemini2R to gemini_generic * chore: Update launch file for gemini2RF * add gemini2RF launch * add retry_on_usb3_detection_failure param * fixed g2r maybe crash * fixed g2 no color point cloud * fixed warning * add more log * fixed crash * fixed depth align * update README && make package * update README && make package * Bump to v1.5.0 * update utils.cpp * Fix range validation and error handling in setGainCallback and setAutoExposureCallback * Add extrinsics publishers for depth to accelerometer and depth to gyro * bump to v1.4.8 * update sdk * Update SDK to 1.10.0 * fixed maybe crash * Add docs * update params * Update Log * Add laser on off mode * update SDK * fixed baseline params * update depth precision setting * Fixed maybe crash * Remove device info pid && vid * Update launch file and device rules * add pid * Fixed connect device * Fixed crash * Update build type to ReleaseWithDebInfo * Update json meta data field name * add laster switch * Add temperatures diagnostics updater * Add D2C publisher * bump to v1.4.7 * Add support for HdrMerge filter setting pass * add gemini2 RL * Add processDepthFrameFilter function to OBCameraNode * Add connection delay parameter to OBCameraNodeDriver * add align mode param * Update align mode parameter in OBCameraNode * add filter params * remove unused static TF * update log level * update SDK * Adapted G2R * Update SDK to g2r temp version * Add setIRLongExposureCallback to OBCameraNode * update readme * add femto mega ip addr and port * Enable depth scale in OBCameraNode * Enable depth scale in OBCameraNode * Contributors: Joe Dong 1.4.6 (2024-02-26) ------------------ * bump to v1.4.6 * upgrade SDK to v1.9.4 * add use hardware time option * fixed save image counter * fixed not close ofstream * fixed compile error in unbuntu 2204 * fixed save 10 image * save depth to raw image * Contributors: Joe Dong 1.4.4 (2024-01-15) ------------------ * Max Pro increases the IR long exposure enable configuration. * Update orbbecsdk library to v1.9.3 * merge master * fixed imu frame id. * Fix DCL IMU synchronous output abnormal issue。 * Update version to v1.4.4 * Update sdk for fix astra pro ission * Delete dw2 launch * Add dw2 launch * Add code to disable frame synchronization processing. * Delete redundant software filtering enable configuration from launch * Update sdk library 1.9.1-dcw2-P01 * DCW2,max pro add depth filter config * Add max pro launch * merge master * Fix the issue of ineffective software filtering in depth filtering configuration。 * Add astra pro2 launch. * Gemini2 depth work mode add Obstacle Avoidance. * Modify improperly named variables * Print log output for gemini2 D2D and depth accuracy information. * Print log output for gemini2 D2D and depth accuracy information. * Merge branch 'master' of code.orbbec.com.cn:OrbbecSDK/OrbbecSDK_ROS2 * fixed frame_id name * Resolving the issue of abnormal simultaneous output of depth point cloud and color point cloud. * Fixing the command to control the data stream crash issue. * Fixing the command to control the data stream crash issue. * fixed distortion model * fixed bolt TF * Update version to v1.4.3 * Update gemini2.launch.py for depth filter config * Remove softfilter config * 1.更新orbbecSDK 1.9.1;2.gemini2增加深度滤波配置功能;3.增加IMU同时输出topic. * Resolve Bolt's coordinate abnormality issue. * Fix distortion parameter bugs, see #15 * Adjust initialization code logic. * [Max_Pro]Update orbbecSDK library * Fixing the problem of aligning simultaneous output of colored point cloud and depth point cloud. * [Max_Pro]Update orbbecSDK for support gemini uw depth 11bit * [Max_Pro]Adapter dabai max pro * Contributors: Joe Dong, lixiaobin 1.4.2 (2023-12-06) ------------------ * Update version to v1.4.2 * Update orbbecSDK library to v1.8.3 * Contributors: lixiaobin 1.4.1 (2023-11-23) ------------------ * Update version to v1.4.1 * Update the method of reading intrinsic parameters. * Update orbbecsdk library to 1.8.2 * Merge branch 'ordered_point_cloud' into 'master' add ordered point cloud param See merge request OrbbecSDK/OrbbecSDK_ROS2!7 * add ordered point cloud param * Fix bug for callback color data * bump to v1.4.0 * Modify the py file in the launch to fix the abnormal behavior of multiple device hot-swapping in Foxy ROS2 version. * Fix the naming error issue in the color function. * Modify gemini2.launch.py to resolve the abnormal program behavior of multiple device reconnection in the Foxy version. * Using a new thread to process Color data. * Implementing flip function for data stream. * Contributors: Joe Dong, lixiaobin, 默存 1.3.9 (2023-10-25) ------------------ * bump to v1.3.9 * Fix the problem of abnormal internal parameter acquisition for individual USB devices. * Adaptation for IR MJPG software decoding processing. * Gemini2 X L add service to read left ir exposure. * Fix camera information abnormality issue. * Contributors: lixiaobin 1.3.8 (2023-10-17) ------------------ * Update OrbbecSDK lib * bump to v1.3.8 * add lock in selectDeviceBySerialNumber func * fixed start multi device * add check start IMU * check rgb buffer avoid crash * fixed stop cause crash * fixed camera info width && height * Update femto bolt,gemini2,gemini2L launch resulation configruation. * fixed crash * Fixed the issue of resource null pointer during device disconnection. * Fixed the issue with the calling of the device PID acquisition interface. * Add dcw2 pid to 99-obsensor-libusb.rules * Resolving the Femto Bolt D2C point cloud issue. * Contributors: Joe Dong, lixiaobin 1.3.7 (2023-10-11) ------------------ * Add the enable switch function for network device enumeration. * Update version to 1.3.7 * Add instructions for depth work mode in the Readme. * merge master * Update OrbbecSDK v1.8.1 library * Update OrbbecSDK to v1.8.1 * Update the data stream configuration of Gemini2 series devices. * Modify multi device sync config parameter. * Adapter Femto bolt device. * Contributors: lixiaobin 1.3.6 (2023-10-07) ------------------ * fixed enable frame sync param * add gemini2 VL launch file * bump to v1.3.6 * add help scripts * add enable frame sync * fixed camera info * Contributors: Joe Dong 1.3.5 (2023-09-15 16:54) ------------------------ * fixed save point cloud * Contributors: Joe Dong 1.3.4 (2023-09-15 15:11) ------------------------ * bump to v1.3.4 * fixed get device by uid * change sem to pthread lock * Contributors: Joe Dong 1.3.2 (2023-09-13) ------------------ * fixed set ir mirror * fixed set ir mirror * add dcw2 launch * bump to v1.3.2 * update SDK to sdk v.1.7.4 * add astra mini s pro pid * fix mising close sem * update SDK to v1.7.3 * bump to v1.3.1 * print more clean log * fixed save left && right IR image * add imu enable parmeter * fixed TF error * fixed set and get ir property * add license header * remove jpeg end zero * fixed use nv jpeg decoder * add jetson hardware decoder * remove sigal handler * remove point cloud filter * changed default color points topic * remove unused parmeter * remove unused parmeter * Merge branch 'master' of code.orbbec.com.cn:OrbbecSDK/OrbbecSDK_ROS2 * fixed tf calc error * Add Dabai max dabai_max.launch.py * fixed rk mpp decoder rgb channel error * fixed crash * remove xml launch file * update SDK to v1.7.2 * update SDK to v1.7.2 * fixed multi device param name * fixed point cloud inv * remove unused tf * fixed camera info frame id * add gemini2 XL launch file * update SDK to v1.7.1 * add cmake log * fixed file name typo * Merge pull request #6 from orbbec/gst_decoder add gstreamer decode MPEG * remove unused code * add python launch file * add python launch file * first work gst decoder * disable Use Gstreamer hardware decoder by default * fixed source and sink name * add gst decoder * fixed memory leak * bump to v1.3.0 * Merge branch 'hw_decoder' into 'master' add mpp hardware decode mjpeg See merge request OrbbecSDK/OrbbecSDK_ROS2!6 * add mpp hardware decode mjpeg * refactory cmake * Add imu parameter README * Add missing params * Contributors: Joe Dong, bajingsi, 默存 1.2.9 (2023-08-23) ------------------ * add list device script * add py launch file * add py launch file * use rclcpp componet * add list device script * add py launch file * add py launch file * use rclcpp componet * Merge pull request #5 from jian-dong/master Release v1.2.9 * remove print device type * update SDK to v1.6.3 * update sdk to v1.6.2 * bump to v1.2.8 * add astra2 launch file * update readme * disable enableMultiDeviceSync for OpenNI device * bump to v1.2.7 * update SDK * fixed tf error * fixed tf * fixed log level * fixed HUB hot plug bug * bump to v1.2.6 * uncomment IMU code * gemini2 L launch file * add help scripts * update launch file * update cmake * update cmake * update SDK to v1.6.1 * add read device usb port * add uyuv to rgb888 * fixed camera link frame id * fixed TF * fixed TF * fix ir image step * remove lfs * remove lfs * remove lfs * remove lfs * slim SDK * comment IMU * update readme * comment start&& stop IMU * comment start&& stop IMU * add more launch file * bump to v1.2.5 * fixed log not clear * fixed gemini2 cannot convert mjpeg * Contributors: Joe Dong 1.2.4 (2023-04-28) ------------------ * fixed gemini e enum device * disable gemini_e color point cloud by default * add sync_signal_trigger_out param * bump v1.2.4 * Merge branch 'feature/imu' into 'master' 添加 IMU topic * 添加了读取IMU数据流，并发布相关topic，目前只支持gemini2 See merge request OrbbecSDK/OrbbecSDK_ROS2!5 * add IMU topic * fix drop bad mjpeg frame * add soft filter max diff * fix point cloud dist * fix read orbbec config * fixed depth image value * add sync mode * add soft filter&& AE switch * add list depth work mode * bump to v1.2.3 * fixed gemini2 get stuck * update launch file * update SDK to v1.5.7 * bump to v1.2.2 * bump to v1.2.2 * add d2c viewer topic * add enable hardware d2d * fix get camera info * update SDK to v1.5.6 * add switch IR camera * fixed broken SDK soft link * rewrite install rules script * fix astra mini pro launch file * Contributors: Joe Dong, 默存 1.2.1 (2023-02-20) ------------------ * add save point cloud and image * fixed typo * clean .make_deb * ignore undeclare paramer exception * add d2c viewer * rename camer_node_factory to camera_node_driver * fixed device count * refactory startDevice * add get ldp status * change set_fan_mode to set_fan_work_mode * update README * remove wrong static_tf_broadcaster\_ init * fixed all launch file error * bump to v1.2.1 * fixed multi camera namespace error * update log * fixed get camera params * fixed get camera params * fixed enum openNI device * fixed code format * fixed crash * fixed catch error * add more launch file * update SDK to v1.5.5 * bump to v1.2.0 * update usb rules * fixed check null ptr * Merge branch 'refactory' into 'master' Big refactoring code See merge request OrbbecSDK/OrbbecSDK_ROS2!4 * Big refactoring code * Removal of unnecessary files * Optimized multi-camera launch * Explicitly list the parameters in the launch file * clean shm * add check connection timer * refactory get stream * remove unused code * fixed multi camera start * replace SDK to v1.4.3 * replace SDK to v1.4.1 * Merge branch 'develop' into 'master' Small fix See merge request OrbbecSDK/OrbbecSDK_ROS2!3 * Small fix * add install usb rules * Contributors: Joe Dong, 默存 1.0.4 (2022-07-07) ------------------ * remove unuse file * bump to v1.0.4 * add make deb scripts * update orbbec SDK install way * update SDK * Contributors: Joe Dong 1.0.3 (2022-07-04 17:05) ------------------------ * bump to v1.0.3 * Contributors: Joe Dong 1.0.2 (2022-07-04 16:52) ------------------------ * roll back sdk * update sdk * update sdk * remove multiple thread publish point cloud * use single thread publish point cloud * fix ir auto exposure * remove openMP * bump to v1.0.2 * remove libuvc debug flag * add stream format as parmeters * add rgb point cloud topic * fix crash * add auto white balance ctrl * remove debug msg * add OBFormatFromString * fix point cloud filter * fix typo * Merge branch 'release/1.0.1' into 'master' add more config See merge request OrbbecSDK/orbbecros2sdk!2 * [fix] only YUYV and I420 support color point cloud * [fix] print enum name * [add][scripts] recv point cloud * [add][glog] update readme * [fix][cmake] find image_publisher * add NOTICE * add multi camera rivz config * fix multi camera * use pid adapter color format * add toggle sesror service * Merge branch 'dev' into 'master' Fix point cloud direction See merge request OrbbecSDK/orbbecros2sdk!1 * Fix point cloud direction * Contributors: Joe Dong, 默存 1.0.0 (2022-06-10) ------------------ * change 'get_api_version' to 'get_sdk_version' * update readme * remove orbbec dir * add dependencies * use bash echo latch messsage * fix ob_sdk from system * fix get ob sdk version * fix publish rgb point cloud * catch publish point cloud exception * add rbgFormatConvertRGB888 * change a better name * add get verion api * change topic name * clean code * fixed warning * fixed stop device * fixed hotplug * remove debug msg * fix use frame timestamp * add get device info srv * print time cost * set response status * catch error when ctrl camera * add help scripts * fix point cloud color * fix tf frame error * init commit * Contributors: Joe Dong