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docs: update documentation for Gemini 330 series, including EnhancedDepthFilter and FalsePositiveFilter usage guides, and clarify SDK JSON import/export instructions

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ob-yalian
2026-07-20 13:58:37 +08:00
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docs/en/source/camera_devices/1_overview/introduction.md
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@@ -165,7 +165,7 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
</tbody>
</table>
**Note**: If you do not find your device, please contact our FAE or sales representative for help.
**Note**: LiDAR devices are supported in v2.6.3 and later versions. For usage details, please refer to the [LiDAR documentation](../../lidar_devices/index.rst). If you do not find your device, please contact our FAE or sales representative for help.
**Definition**:
docs/en/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -265,10 +265,10 @@ The following are the launch parameters available:
* Set the color MJPEG encoding quality. **Range:** `1–100`; **Default:** `-1` (leave the current device value unchanged). Firmware version `1.8.11` or later is required.
> **Supported Modules**: Gemini 330 series
* **`enable_false_positive_filter`**
* Enable this option to reduce ghosting noise. For usage examples and runtime tuning, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md).
* Enable this option to reduce ghosting noise. For usage examples and runtime tuning, see [Gemini 330 Series FalsePositiveFilter Usage Guide](../5_advanced_guide/configuration/false_positive_filter.md).
> **Supported Modules**: Gemini 330 series / Gemini 340 series
* **`enable_enhanced_depth`**
* Enable LingBot enhanced depth filtering. The default is `false`. Both Color and Depth must be enabled, and D2C/C2D alignment must be configured. For complete environment, startup, and image requirements, see the [ROS2 EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
* Enable LingBot enhanced depth filtering. The default is `false`. Both Color and Depth must be enabled, and D2C/C2D alignment must be configured. For complete environment, startup, and image requirements, see the [Gemini 330 Series EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
> **Supported Modules**: Gemini 330 series
* **`enhanced_depth_model_path`**
* Path to the LingBot `model.sm4` file. The default is empty. This parameter is required when enhanced depth filtering is enabled; an absolute path is recommended. The model file cannot be changed at runtime.
@@ -349,10 +349,10 @@ The following are the launch parameters available:
* **`config_file_path`**
* The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used. Some presets or special modes are configured through YAML. See [predefined presets](../5_advanced_guide/configuration/predefined_presets.md).
* **`load_config_json_file_path`**
* SDK JSON configuration import path. When set, the node imports the JSON configuration during initialization. For Gemini 330 series, use `gemini_330_series_sdk_json.launch.py` as the dedicated SDK JSON launch file. See [SDK JSON Import and Export for Gemini 330 Series](../5_advanced_guide/configuration/sdk_json_config.md).
* SDK JSON configuration import path. When set, the node imports the JSON configuration during initialization. For Gemini 330 series, use `gemini_330_series_sdk_json.launch.py` as the dedicated SDK JSON launch file. See [Gemini 330 Series SDK JSON Usage Guide](../5_advanced_guide/configuration/sdk_json_config.md).
* If the JSON contains `application_config`, the node syncs stream enable states, resolution, frame rate, format, undistortion, point cloud, HDR merge, and device-level decimation from it when the corresponding launch / YAML parameters have not been passed to the node.
* **`export_config_json_file_path`**
* SDK JSON configuration export path. When set, the node exports the current device configuration to JSON after initialization. You can also export at runtime with the `/camera/export_config_json` service. See [SDK JSON Import and Export for Gemini 330 Series](../5_advanced_guide/configuration/sdk_json_config.md).
* SDK JSON configuration export path. When set, the node exports the current device configuration to JSON after initialization. You can also export at runtime with the `/camera/export_config_json` service. See [Gemini 330 Series SDK JSON Usage Guide](../5_advanced_guide/configuration/sdk_json_config.md).
* Before export, the node syncs the current ROS2 sensor stream, point cloud, and HDR merge settings into the SDK `application_config` when the device supports it.
* **`frame_aggregate_mode`**
* Set frame aggregate output mode. Optional values: `full_frame`, `color_frame`, `ANY`, `disable`.
docs/en/source/camera_devices/4_application_guide/services.md
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ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
```
* `/camera/export_config_json`
Export the current device configuration to an SDK JSON file. For the Gemini 330 series JSON import and export workflow, see [SDK JSON Import and Export for Gemini 330 Series](../5_advanced_guide/configuration/sdk_json_config.md).
Export the current device configuration to an SDK JSON file. For the Gemini 330 series JSON import and export workflow, see [Gemini 330 Series SDK JSON Usage Guide](../5_advanced_guide/configuration/sdk_json_config.md).
```bash
ros2 service call /camera/export_config_json orbbec_camera_msgs/srv/SetString "{data: '/tmp/orbbec_camera_config.json'}"
```
@@ -231,7 +231,7 @@
### Depth Filter Configuration
* `/camera/set_filter`
For `FalsePositiveFilter` startup parameters, status checks, and named-parameter tuning examples, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md). For `EnhancedDepthFilter` environment requirements, startup parameters, and status checks, see the [ROS2 EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
For `FalsePositiveFilter` startup parameters, status checks, and named-parameter tuning examples, see [Gemini 330 Series FalsePositiveFilter Usage Guide](../5_advanced_guide/configuration/false_positive_filter.md). For `EnhancedDepthFilter` environment requirements, startup parameters, and status checks, see the [Gemini 330 Series EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
```bash
# filter_name is the filter name, and filter_enable indicates whether the filter is enabled.
# filter_param is the legacy positional parameter form; filter_config is the new named parameter form.
docs/en/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md
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# EnhancedDepthFilter Usage Guide
# Gemini 330 Series EnhancedDepthFilter Usage Guide
The LingBot Enhanced Depth Filter (`EnhancedDepthFilter`) uses both color and depth information to improve depth image quality by reducing noise, filling depth holes, and refining object edges.
docs/en/source/camera_devices/5_advanced_guide/configuration/false_positive_filter.md
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# False Positive Filtering for Gemini 330 Series
# Gemini 330 Series FalsePositiveFilter Usage Guide
This document describes how to use the `FalsePositiveFilter` in ROS2 for Gemini 330 series cameras, including enabling it at startup, checking its status, enabling or disabling it at runtime, and temporarily tuning its parameters.
@@ -41,7 +41,7 @@ Notes:
## Optional: Import an SDK JSON File
If false positive filter parameters are already written in an SDK JSON file, import it with `load_config_json_file_path`. For the Gemini 330 series SDK JSON import and export workflow, parameter priority, and log checks, see [SDK JSON Import and Export for Gemini 330 Series](sdk_json_config.md).
If false positive filter parameters are already written in an SDK JSON file, import it with `load_config_json_file_path`. For the Gemini 330 series SDK JSON import and export workflow, parameter priority, and log checks, see [Gemini 330 Series SDK JSON Usage Guide](sdk_json_config.md).
Common cases:
docs/en/source/camera_devices/5_advanced_guide/configuration/sdk_json_config.md
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# SDK JSON Import and Export for Gemini 330 Series
# Gemini 330 Series SDK JSON Usage Guide
This document describes how to import and export SDK JSON configuration files for Gemini 330 series cameras in ROS2.