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@zhonghong322 zhonghong322 released this 21 Dec 10:28
· 3 commits to main since this release
v2.1.1
5f278c7

Orbbec SDK Release v2.1.1

What's New

● Added support for Gemini 215 and 210 cameras.
● Add an interface for the Align Filter to set D2C/C2D alignment target Stream Profile. It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
The Usage method is as follows:

auto depth2colorAlign = std::make_shared<ob::Align>(OB_STREAM_COLOR);
//set D2C alignment target Stream Profile
depth2colorAlign->setAlignToStreamProfile(colorProfile);

● Added new features for Gemini 330 series cameras:

  • Support for newly released firmware v1.4.00
  • Introduced a new function for alternating laser with interleave speckle IR image and pure IR image output (requires firmware v1.4.00 or above).
    // load frame interleave mode as 'Laser On-Off'
    device->loadFrameInterleave("Laser On-Off");
    // enable frame interleave
    device->setBoolProperty(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, true);

  • Added SequenceIdFilter for the left and right IR streams in the post-processing module.

  • Optimized the Linux V4L2 solution without kernel patch requirements on Ubuntu 20.04 and later systems (requires Gemini 330 firmware v1.4.00 or above).
    The Usage method is as follows:

    // Create a context to access the devices
    std::shared_ptr<ob::Context> context = std::make_shared<ob::Context>();
    context->setUvcBackendType(OB_UVC_BACKEND_TYPE_V4L2);

Bug Fixes:

● Fixed a potential timestamp synchronization failure issue for Gemini 2/2 L devices.
● Fixed timestamp offset calculation errors for Gemini 330/335/336 devices on Linux V4L2.
● Fixed an issue where CPU usage would continuously increase when software D2D was enabled.
● Fixed a bug in the AlignFilter that caused D2C failures when color data was missing.
● Fixed a potential upgrade failure issue by updating the firmware upgrade extension library.
● Fixed a distortion issue that occurred in depth point clouds when hardware D2C was enabled.

API changes

●Add an interface for the Align Filter to set D2C/C2D alignment target Stream Profile (Filter.hpp).

    void setAlignToStreamProfile(std::shared_ptr<const StreamProfile> profile) {
        ob_error *error = nullptr;
        ob_align_filter_set_align_to_stream_profile(impl_, profile->getImpl(), &error);
        Error::handle(&error);
    }

Supported Devices and Recommended Firmware Version

Products List Recommended FW Version Note
Gemini 330 series 1.4.00 Gemini 330/330L/335/335L/336/336L
Gemini 335Lg 1.3.70
Gemini 215 1.0.9
Gemini 210 1.0.9
Gemini 2 1.4.92
Gemini 2 L 1.4.53
Femto Bolt 1.1.2
Femto Mega 1.3.0
Astra 2 2.8.20

Supported platforms

  • Windows 10 or later: x86 and x64 architectures
  • Linux x64: tested on Ubuntu 20.04, 22.04 and 24.04
  • Linux ARM64: tested on NVidia AGX Orin and AGX Xavier
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