diff --git a/README.MD b/README.MD index 76c83621..88e0751c 100644 --- a/README.MD +++ b/README.MD @@ -1,6 +1,6 @@ # OrbbecSDK ROS2 - [![stable](http://badges.github.io/stability-badges/dist/stable.svg)](http://github.com/badges/stability-badges) ![version](https://img.shields.io/badge/version-1.5.11-green) + [![stable](http://badges.github.io/stability-badges/dist/stable.svg)](http://github.com/badges/stability-badges) ![version](https://img.shields.io/badge/version-2.0.7-green) OrbbecSDK_ROS2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS 2 environment. It supports ROS 2 Foxy, Humble, and Jazzy distributions. @@ -377,13 +377,13 @@ ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.x ## Predefined presets -| Preset | Features | Recommended use cases | -| -------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| Default | - Best visual perception``- Overall good performance in accuracy, fill rate, tiny objects, etc. | - Generic `
`- Robotics | -| Hand | - Clear hand and finger edges | - Gesture recognition | -| High Accuracy | - Depth of high confidence `
`- Barely noise depth values `
`- Lower fill rate | - Collision avoidance `
`- Object scanning | -| High Density | - Higher fill rate `
`- More tiny objects `
`- May suffer from noise depth values | - Object recognition `
`- Pick & place `
`- Foreground & background animation | -| Medium Density | - Balanced performance in fill rate and accuracy `
`- In comparison to Default: lower fill rate, better edge quality | - Generic and alternative to Default | +| Preset | Features | Recommended use cases | +| -------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| Default | - Best visual perception``- Overall good performance in accuracy, fill rate, tiny objects, etc. | - Generic `
`- Robotics | +| Hand | - Clear hand and finger edges | - Gesture recognition | +| High Accuracy | - Depth of high confidence `
`- Barely noise depth values `
`- Lower fill rate | - Collision avoidance `
`- Object scanning | +| High Density | - Higher fill rate `
`- More tiny objects `
`- May suffer from noise depth values | - Object recognition `
`- Pick & place `
`- Foreground & background animation | +| Medium Density | - Balanced performance in fill rate and accuracy `
`- In comparison to Default: lower fill rate, better edge quality | - Generic and alternative to Default | | Custom | - User defined Preset `
`- Derived from Presets above, with customized modifications, e.g. a new configuration for the post-processing pipeline, modified mean intensity set point of depth AE function, etc. | - Better depth performance achieved using customized configurations in comparison to using predefined presets `
`- For well-established custom configurations | Choose the appropriate preset name based on your specific use case and set it as the value for the `device_preset` @@ -644,17 +644,17 @@ bash .make_deb.sh ## Launch files -| product serials | Firmware Version | **Firmware Version** | +| product serials | Firmware Version | **Firmware Version** | | :-------------: | :--------------: | :-------------------------: | -| 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 | +| 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 | +| 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 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 | **All launch files are essentially similar, with the primary difference being the default values of the parameters set