Gemini 335Lg depth data is becoming invalid over time

Technical Support & Q&A Advanced
1

Hardware setup:

  1. Advantech AFE-R750 (NVIDIA Jetson Orin AGX)
  2. 6 Gemini 335lg cameras via GMSL cables

Framework: ROS2 Humble
Software: OrbbecSDK_ROS2 (2.8.6), OrbbecSDK_v2 (2.8.6)

Synchronization setup (ROS2 settings):

  • enable_gmsl_trigger: true (for 1 camera)
  • gmsl_trigger_fps: 1500 (15Hz) (for 1 camera)
  • sync_mode: “secondary_synced” (for all 6 cameras)

Problem:
Over time, the point cloud becomes invalid (phantom points start to appear in empty areas). It starts getting worse after ~30 min of the ROS2 wrappers running.

Here is the corrupted point cloud screenshot:

After 2 days of cameras running (corrupted point cloud)
After 2 days of cameras running (corrupted point cloud)1920×1546 189 KB

Any help would be appreciated.