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Update multi_camera_lower_cpu_usage.launch.py

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jj
2025-02-15 17:50:16 +08:00
parent e1ab3d506b
commit 123731a0a4
2 changed files with 10 additions and 9 deletions
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orbbec_camera/examples/lower_cpu_usage/README.MD
+8 -7
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@@ -6,13 +6,14 @@ The example launch files used in this section are `gemini_330_series_lower_cpu_u
### Parameters that affect CPU usage ### Parameters that affect CPU usage
`uvc_backend`:Global UVC Backend select on Linux,optional values: libuvc, v4l2.(v4l2 is lower) * `uvc_backend`:Global UVC Backend select on Linux,optional values: libuvc, v4l2.(v4l2 is lower)
`color_format`:Color stream coding format.(RGB is lower) * `color_format`:Color stream coding format.(RGB is lower)
`depth_registration`: Enables alignment of the depth frame to the color frame.(align_mode is set to HW lower)
`enable_point_cloud`:Enables the point cloud. * `depth_registration`: Enables alignment of the depth frame to the color frame.(align_mode is set to HW lower)
`enable_colored_point_cloud`:Enables the RGB point cloud. * `enable_point_cloud`:Enables the point cloud
`filter`:decimation_filter,hdr_merge,sequenced_filter,threshold_filter,hardware_noise_removal_filter,noise_removal_filter,spatial_filter,temporal_filter,hole_filling_filter.(hardware_noise_removal_filter is lower)
`Video stream resolution and frame rate` * `enable_colored_point_cloud`:Enables the RGB point cloud
* `filter`:decimation_filter,hdr_merge,sequenced_filter,threshold_filter,hardware_noise_removal_filter,noise_removal_filter,spatial_filter,temporal_filter,hole_filling_filter.(hardware_noise_removal_filter is lower)
### Data comparison ### Data comparison
orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py
+2 -2
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@@ -66,7 +66,7 @@ def generate_launch_description():
condition=UnlessCondition(attach_to_shared_component_container_arg), condition=UnlessCondition(attach_to_shared_component_container_arg),
) )
attach_to_shared_component_container_arg = TextSubstitution(text="true")
launch1_include = IncludeLaunchDescription( launch1_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
@@ -100,7 +100,7 @@ def generate_launch_description():
), ),
launch_arguments={ launch_arguments={
"camera_name": "camera_03", "camera_name": "camera_03",
"usb_port": "2-1", "usb_port": "2-6",
"device_num": "4", "device_num": "4",
"sync_mode": "standalone", "sync_mode": "standalone",
"attach_to_shared_component_container": attach_to_shared_component_container_arg, "attach_to_shared_component_container": attach_to_shared_component_container_arg,