deploy: fd13aba31f

en/.buildinfo

@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 0f7510548283e570859d8a471618b1d1
+config: adc71f2003683a11b4d207e0b3b8cf8e
 tags: 645f666f9bcd5a90fca523b33c5a78b7

en/_sources/index.rst.txt

@@ -10,11 +10,5 @@ OrbbecSDK V2 ROS2 Wrapper documentation
     :maxdepth: 3
     :numbered:
 
-    source/1_overview/overview.rst
+    source/camera_devices/index.rst
-    source/2_installation/installation.rst
+    source/lidar_devices/index.rst
-    source/3_quickstarts/quickstarts.rst
-    source/4_application_guide/application_guide.rst
-    source/5_advanced_guide/advanced_guide.rst
-    source/6_benchmark/benchmark.rst
-    source/7_developer_guide/developer_guide.rst
-    source/8_FAQ/FAQ.rst

en/_sources/source/camera_devices/2_installation/build_the_package.md.txt

@@ -1,6 +1,5 @@
-### Binary Installation
+### Environment configuration
 
-#### Environment
 
 Install ROS 2 according to the official guide:
 
@@ -22,7 +21,7 @@ Enable ROS 2 auto-completion:
 eval "$(register-python-argcomplete3 ros2)"
 eval "$(register-python-argcomplete3 colcon)"
 ```
-#### Linux Binary Package Installation
+### Linux Binary Package Installation
 
 Check available packages:
 
@@ -43,7 +42,6 @@ After installation, you can use it directly without compilation.
 
 ### Build from Source
 
-#### Linux ROS2 Wrapper Compilation
 
 Create a `colcon` workspace:
 

en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt

@@ -41,6 +41,10 @@ The following are the launch parameters available:
     *   Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
 *   **`right_ir.image_raw.enable_pub_plugins`**
     *   Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
+*   **`point_cloud_decimation_filter_factor`**
+    *   Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling; larger values apply stronger decimation.
+*   **`preset_resolution_config`**
+    * Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on specific devices like Gemini2. Leave empty to disable.
 
 ### Sensor Controls
 
@@ -181,7 +185,7 @@ The following are the launch parameters available:
   *   `COLOR`: Align depth to color.
   *   `DEPTH`: Align color to depth.
 - **`intra_camera_sync_reference`**
-  - Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. **Default:** `Middle`
+  - Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.
 
 ### Basic & General Parameters
 
@@ -224,6 +228,8 @@ The following are the launch parameters available:
 #### Logging & Diagnostics
 *   **`log_level`**
     *   SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
+* **`log_file_name`**
+    * Saved SDK log file name. Effective when `log_level` is `debug`.
 *   **`diagnostic_period`**
     *   Diagnostic period in seconds.
 *   **`enable_heartbeat`**

en/_sources/source/camera_devices/4_application_guide/services.md.txt

@@ -256,3 +256,13 @@
                     -6.804073229432106e-06]}'
     ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
     ```
+
+### Point cloud decimation
+*   `/camera/set_point_cloud_decimation`
+    ```bash
+    ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'
+    ```
+*   `/camera/get_point_cloud_decimation`
+    ```bash
+    ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```