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Add point cloud decimation parameters and services to documentation

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ob-yalian
2025-12-29 13:41:14 +08:00
parent 4fbdc57b55
commit 353d935ce6
4 changed files with 24 additions and 0 deletions
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docs/en/source/4_application_guide/launch_parameters.md
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@@ -41,6 +41,8 @@ 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.
### Sensor Controls
docs/en/source/4_application_guide/services.md
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@@ -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 '{}'
```