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Update launch parameters and README

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obyalian
2025-09-02 17:09:25 +08:00
committed by xiexun
parent d2cb690b03
commit 3622fbb09f
3 changed files with 22 additions and 15 deletions
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orbbec_camera/examples/435le_new_interface/README.MD
+8 -4
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@@ -35,7 +35,7 @@ Once successfully started, the following menu will appear. Enter the correspondi
Used to manage camera calibration parameters, including:
* **k**: Camera intrinsic matrix (3×3)
* **d**: Distortion coefficients (radial/tangential)
* **d**: Distortion coefficients (1x8)
* **rotation**: Extrinsic rotation matrix (3×3)
* **translation**: Extrinsic translation vector (3×1)
@@ -51,7 +51,8 @@ ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCa
0.032955970615148544,
9.096559369936585e-05,
-0.0003368517500348389,
-0.01115430984646082],
-0.01115430984646082,
0.0, 0.0, 0.0],
rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,
-0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,
0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
@@ -121,17 +122,20 @@ ros2 topic echo /camera/device_status
### 3.1 Optimized Color Stream Latency
In the previous version, enabling the color point cloud caused noticeable latency in color image publishing.
This version optimizes data synchronization and publishing, allowing color images and point clouds to correspond more in real time and eliminating visual delays.
In this version, data synchronization and publishing have been optimized so that enabling the color point cloud no longer affects the depth stream publishing latency.
---
### 3.2 Added `time_sync_period`
A new parameter **time\_sync\_period** is added to set the time synchronization interval between the camera module and the host.
A new parameter **time_sync_period** is introduced to configure the time synchronization interval between the camera module and the host.
* Unit: **seconds**
* Function: The camera aligns its internal timestamp with the host at the specified interval, ensuring consistent timestamps.
> **Note** : This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`** .
---
### 3.3 Added `camera_info_url` and `ir_info_url`