<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="services.html#device-information-management">4.2.3. Device Information & Management</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
</ul>
</li>
<liclass="toctree-l2"><aclass="reference internal"href="topics.html">4.3. Available Topics</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
<liclass="toctree-l2"><aclass="reference internal"href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<liclass="toctree-l2"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<h1><spanclass="section-number">4.1. </span>Launch parameters<aclass="headerlink"href="#launch-parameters"title="Link to this heading"></a></h1>
<blockquote>
<div><p>If you are not sure how to set the parameters, you can connect the orbbec camera and open the <aclass="reference external"href="https://github.com/orbbec/OrbbecSDK/releases">OrbbecViewer</a>.</p>
</div></blockquote>
<p>The following are the launch parameters available:</p>
<sectionid="core-stream-configuration">
<h2><spanclass="section-number">4.1.1. </span>Core & Stream Configuration<aclass="headerlink"href="#core-stream-configuration"title="Link to this heading"></a></h2>
<li><p>Set the power line freq. The possible values are <codeclass="docutils literal notranslate"><spanclass="pre">disable</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">50hz</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">60hz</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">auto</span></code>.</p></li>
<li><p>Set the target mean intensity of the Depth image. For example: <codeclass="docutils literal notranslate"><spanclass="pre">mean_intensity_set_point:=100</span></code>.</p></li>
</ul>
<blockquote>
<div><p><strong>Note:</strong> This replaces the deprecated <codeclass="docutils literal notranslate"><spanclass="pre">depth_brightness</span></code>, which is still supported for backward compatibility.</p>
<li><p>The depth precision should be in the format <codeclass="docutils literal notranslate"><spanclass="pre">1mm</span></code>. The default value is <codeclass="docutils literal notranslate"><spanclass="pre">1mm</span></code>.</p></li>
<li><p>Enable the LDP and set its power level.</p></li>
</ul>
</li>
</ul>
</section>
</section>
<sectionid="device-sync-advanced-features">
<h2><spanclass="section-number">4.1.3. </span>Device, Sync & Advanced Features<aclass="headerlink"href="#device-sync-advanced-features"title="Link to this heading"></a></h2>
<sectionid="multi-camera-synchronization">
<h3><spanclass="section-number">4.1.3.1. </span>Multi-Camera Synchronization<aclass="headerlink"href="#multi-camera-synchronization"title="Link to this heading"></a></h3>
<div><p>Used for <aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced.html"><spanclass="doc">multi camera synced</span></a>.</p>
<li><p>Target device MAC address when multiple cameras are connected (e.g., <codeclass="docutils literal notranslate"><spanclass="pre">"54:14:FD:06:07:DA"</span></code>). You can use the <codeclass="docutils literal notranslate"><spanclass="pre">list_devices_node</span></code> to find the MAC of each device. <strong>Default:</strong><codeclass="docutils literal notranslate"><spanclass="pre">""</span></code></p></li>
<li><p>Static IP address to assign. <strong>Default:</strong><codeclass="docutils literal notranslate"><spanclass="pre">192.168.1.10</span></code></p></li>
<li><p>Subnet mask for the static IP. <strong>Default:</strong><codeclass="docutils literal notranslate"><spanclass="pre">255.255.255.0</span></code></p></li>
<li><p>Gateway address for the static IP. <strong>Default:</strong><codeclass="docutils literal notranslate"><spanclass="pre">192.168.1.1</span></code></p></li>
<li><p>The default value is <codeclass="docutils literal notranslate"><spanclass="pre">Default</span></code>. Only the G330 series is supported. For more information, refer to the <aclass="reference external"href="https://www.orbbec.com/docs/g330-use-depth-presets/">G330 documentation</a>. The value should be one of the preset names listed <aclass="reference internal"href="../5_advanced_guide/configuration/predefined_presets.html"><spanclass="doc">in the table</span></a>.</p></li>
<li><p>Enable the gmsl trigger out signal / set gmsl trigger fps. Used for <aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html"><spanclass="doc">gmsl camera</span></a>.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">HW</span></code>: use hardware disparity to depth conversion. <codeclass="docutils literal notranslate"><spanclass="pre">SW</span></code>: use software disparity to depth conversion.</p></li>
<li><p>Parameters for disparity search offset. Used for <aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html"><spanclass="doc">disparity search offset</span></a>.</p></li>
<h3><spanclass="section-number">4.1.3.5. </span>Interleave AE Mode<aclass="headerlink"href="#interleave-ae-mode"title="Link to this heading"></a></h3>
<li><p><em>All interleave parameters are used for <aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html"><spanclass="doc">interleave ae mode</span></a>.</em></p></li>
<h3><spanclass="section-number">4.1.3.6. </span>Intra-Camera Synchronization<aclass="headerlink"href="#intra-camera-synchronization"title="Link to this heading"></a></h3>
<li><p>Enable alignment of the depth frame to the color frame. This field is required when the <codeclass="docutils literal notranslate"><spanclass="pre">enable_colored_point_cloud</span></code> is set to <codeclass="docutils literal notranslate"><spanclass="pre">true</span></code>.</p></li>
<li><p>The alignment mode to be used. Options are <codeclass="docutils literal notranslate"><spanclass="pre">HW</span></code> for hardware alignment and <codeclass="docutils literal notranslate"><spanclass="pre">SW</span></code> for software alignment.</p></li>
<li><p>The possible values are <codeclass="docutils literal notranslate"><spanclass="pre">COLOR</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">DEPTH</span></code>.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">COLOR</span></code>: Align depth to color.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">DEPTH</span></code>: Align color to depth.</p></li>
<li><p>Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when <codeclass="docutils literal notranslate"><spanclass="pre">sync_mode</span></code> is set to <strong>software</strong> or <strong>hardware trigger</strong> mode. <strong>Options:</strong><codeclass="docutils literal notranslate"><spanclass="pre">Start</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">Middle</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">End</span></code>. <strong>Default:</strong><codeclass="docutils literal notranslate"><spanclass="pre">Middle</span></code></p></li>
<h2><spanclass="section-number">4.1.4. </span>Basic & General Parameters<aclass="headerlink"href="#basic-general-parameters"title="Link to this heading"></a></h2>
<sectionid="firmware-backend">
<h3><spanclass="section-number">4.1.4.1. </span>Firmware & Backend<aclass="headerlink"href="#firmware-backend"title="Link to this heading"></a></h3>
<li><p>The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by <codeclass="docutils literal notranslate"><spanclass="pre">,</span></code> and a maximum of 3 firmware paths can be input.</p></li>
<li><p>The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.</p></li>
<li><p>If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. It is recommended to set this parameter to <codeclass="docutils literal notranslate"><spanclass="pre">false</span></code> when using a USB 2.0 connection to avoid unnecessary resets.</p></li>
</ul>
</li>
</ul>
</section>
<sectionid="tf-extrinsics-calibration">
<h3><spanclass="section-number">4.1.4.2. </span>TF, Extrinsics & Calibration<aclass="headerlink"href="#tf-extrinsics-calibration"title="Link to this heading"></a></h3>
<h3><spanclass="section-number">4.1.4.3. </span>Time Synchronization<aclass="headerlink"href="#time-synchronization"title="Link to this heading"></a></h3>
<li><p>Enable synchronization of the host time with the camera time. The default value is <codeclass="docutils literal notranslate"><spanclass="pre">true</span></code>. If using global time, set to <codeclass="docutils literal notranslate"><spanclass="pre">false</span></code>.</p></li>
<li><p>Interval (in seconds) for synchronizing the camera time with the host system.</p></li>
</ul>
<blockquote>
<div><p><strong>Note</strong>: This parameter only needs to be set when <strong><codeclass="docutils literal notranslate"><spanclass="pre">enable_sync_host_time</span><spanclass="pre">=</span><spanclass="pre">true</span></code></strong> and <strong><codeclass="docutils literal notranslate"><spanclass="pre">time_domain</span><spanclass="pre">=</span><spanclass="pre">device</span></code></strong>.</p>
<li><p>Enable PTP time synchronization. Only for Gemini 335Le. Requires <codeclass="docutils literal notranslate"><spanclass="pre">enable_sync_host_time</span></code> to be <codeclass="docutils literal notranslate"><spanclass="pre">false</span></code>.</p></li>
<h3><spanclass="section-number">4.1.4.4. </span>Logging & Diagnostics<aclass="headerlink"href="#logging-diagnostics"title="Link to this heading"></a></h3>
<li><p>Enable the heartbeat function. Default is <codeclass="docutils literal notranslate"><spanclass="pre">false</span></code>. If <codeclass="docutils literal notranslate"><spanclass="pre">true</span></code>, the camera node will send heartbeat signals to the firmware.</p></li>
</ul>
</li>
</ul>
</section>
<sectionid="miscellaneous">
<h3><spanclass="section-number">4.1.4.5. </span>Miscellaneous<aclass="headerlink"href="#miscellaneous"title="Link to this heading"></a></h3>
<li><p>The path to the YAML configuration file. Default is <codeclass="docutils literal notranslate"><spanclass="pre">""</span></code>. If not specified, default parameters from the launch file will be used.</p></li>
<li><p>The frequency of the accelerometer/gyroscope. Values range from <codeclass="docutils literal notranslate"><spanclass="pre">1.5625hz</span></code> to <codeclass="docutils literal notranslate"><spanclass="pre">32khz</span></code>.</p></li>
<li><p>Enable the Depth decimation filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">decimation_filter_scale</span></code>.</p></li>
<li><p>Enable the Depth hdr merge filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">hdr_merge_exposure_1</span></code>, etc.</p></li>
<li><p>Enable the Depth sequence id filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">sequence_id_filter_id</span></code>.</p></li>
<li><p>Enable the Depth threshold filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">threshold_filter_max</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">threshold_filter_min</span></code>.</p></li>
<li><p>Enable the Depth software noise removal filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">noise_removal_filter_min_diff</span></code>, etc.</p></li>
<li><p>Enable the Depth spatial filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">spatial_filter_alpha</span></code>, etc.</p></li>
<li><p>Enable the Depth temporal filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">temporal_filter_diff_threshold</span></code>, etc.</p></li>
<li><p>Enable the Depth hole filling filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">hole_filling_filter_mode</span></code>.</p></li>
<li><p>Enable the Depth spatial fast filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">spatial_fast_filter_radius</span></code>.</p></li>
<li><p>Enable the Depth spatial moderate filter. Set with <codeclass="docutils literal notranslate"><spanclass="pre">spatial_moderate_filter_diff_threshold</span></code>, etc.</p></li>
</ul>
</li>
</ul>
<hrclass="docutils"/>
<blockquote>
<div><p><strong><em>IMPORTANT</em></strong>: Please carefully read the instructions regarding software filtering settings at <aclass="reference external"href="https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/">this link</a>. If you are uncertain, do not modify these settings.</p>
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