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docs: update launch parameters documentation with new settings and descriptions
This commit is contained in:
ob-yalian
@@ -59,12 +59,16 @@ The following are the launch parameters available:
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```bash
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ros2 run orbbec_camera list_devices_node
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```
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* **`preset_resolution_config`**
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* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Leave empty to disable.
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* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
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* The resolution and frame rate of the sensor stream.
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* For Femto Mega / Femto Bolt, depth NFOV and WFOV modes are configured by combining depth and IR resolutions. See [Configuration of depth NFOV and WFOV modes](../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md).
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* For lower CPU usage, see the `color_format` recommendations in [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md).
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* **`enable_[color|depth|left_ir|right_ir|ir]`**
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* Enable or disable the corresponding image stream.
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* **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`**
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* Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`.
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* **`color_frame_queue_max_frames`**, **`left_color_frame_queue_max_frames`**, **`right_color_frame_queue_max_frames`**
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* Set the maximum number of color frames buffered by the corresponding color-frame worker. The default is `10`; when the queue is full, the oldest frame is discarded and the overflow counter is incremented. The current queue size and overflow counters can be queried with `/camera/get_color_queue_stats`.
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* **`[color|depth|left_ir|right_ir|ir]_rotation`**
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@@ -103,6 +107,8 @@ The following are the launch parameters available:
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* Play back the specified SDK `.bag` file. When set, the node creates a playback device from the bag file instead of connecting to a physical camera.
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* **`bag_loop`**
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* Loop SDK bag playback after the file reaches the end. Default: `false`. This only takes effect when `bag_filename` is set.
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* **`enable_fps_boost`**
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* Enable device FPS Boost. The default is `false`; this parameter only takes effect when the device supports the `FPS Boost` property.
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## Sensor Controls
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@@ -123,12 +129,20 @@ The following are the launch parameters available:
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* Set the maximum exposure value for Color auto exposure.
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* **`color_ae_max_gain`**
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* Set the maximum gain for Color auto exposure. Supported by Gemini 2 firmware `1.5.04` and above, and Gemini 2L firmware `1.5.09` and above.
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* **`ae_reference_stream`**
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* Set the auto-exposure reference stream. Options: `depth`, `color`. Default: `depth`.
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* This replaces the old `ae_mode` parameter. The old values `depthbased/colorbased` map to `depth/color`.
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* **`ae_strategy`**
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* Set the auto-exposure strategy. Options: `default`, `motion`. Default: `motion`.
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* This replaces the old `enable_sports_mode` parameter.
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* **`color_brightness`**, **`color_sharpness`**, **`color_gamma`**, **`color_saturation`**, **`color_contrast`**, **`color_hue`**
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* Set the Color brightness, sharpness, gamma, saturation, contrast, and hue.
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* **`color_backlight_compensation`**
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* Set the Color camera's backlight compensation level. Valid values are `0–6`; the launch default is `-1`, which leaves the current device value unchanged.
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* **`color_powerline_freq`**
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* Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`.
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* **`color_mjpeg_quality`**
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* 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.
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* **`color_preset`**
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* Set the Color preset by name. Supported on Gemini 330 series and Gemini 301 series devices. Common options include `Default`, `Warm Biased AWB`, and `Cold Biased AWB`; the exact list is reported by the device. The name comparison is case-insensitive.
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* **`color_anti_flicker`**
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@@ -182,6 +196,8 @@ The following are the launch parameters available:
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### Multi-Camera Synchronization
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* **`sync_mode`**
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* Set sync mode. The default is determined by the selected launch file. See [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md) for multi-camera connection, synchronization modes, and trigger configuration.
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* Enable the GMSL trigger output signal / set the GMSL trigger frame rate. See [GMSL camera](../5_advanced_guide/multi_camera/gmsl_camera.md) for the configuration.
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* **`depth_delay_us`** / **`color_delay_us`**
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* The delay time (microseconds) of the depth/color image capture after receiving the capture command or trigger signal.
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* **`trigger2image_delay_us`**
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@@ -196,7 +212,6 @@ The following are the launch parameters available:
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* The frame number of each stream after each trigger in triggering mode.
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* **`sync_io_voltage_level`**
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* Set the sync IO voltage level. Default: `-1`, which means do not set it. This is only supported on devices that expose the property; it can also be changed at runtime with `/camera/set_sync_io_voltage_level`.
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> **Supported Modules**: Gemini 301 series.
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### Network Cameras
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* **`enumerate_net_device`**
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@@ -246,55 +261,6 @@ The following are the launch parameters available:
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- **`intra_camera_sync_reference`**
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- Sets the reference point for intra-camera synchronization on supported Gemini 330/335 series devices. **Options:** `Start`, `Middle`, `End`. When empty, the node leaves the device's current setting unchanged.
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## Device-Specific Parameters
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* Enable the GMSL trigger output signal / set the GMSL trigger frame rate. Supported modules are Gemini 335Lg, 338Lg, 345Lg, and 305g; see [GMSL camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
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>
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* **`enable_ptp_config`**
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* Enable PTP time synchronization. Requires `enable_sync_host_time` to be `false`.
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> **Supported Modules**: Gemini 335Le
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* **`preset_resolution_config`**
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* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Leave empty to disable.
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> **Supported Modules**: Gemini 435Le
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* **`ae_reference_stream`**
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* Set the auto-exposure reference stream. Options: `depth`, `color`. Default: `depth`.
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> **Supported Modules**: Gemini 301 series.
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> **Compatibility**: This replaces the old `ae_mode` parameter. The old values `depthbased/colorbased` map to `depth/color`.
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* **`ae_strategy`**
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* Set the auto-exposure strategy. Options: `default`, `motion`. Default: `motion`.
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> **Supported Modules**: Gemini 301 series.
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> **Compatibility**: This replaces the old `enable_sports_mode` parameter.
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* **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`**
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* Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`
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> **Supported Modules**: Gemini 301 series
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* **`color_mjpeg_quality`**
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* 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.
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> **Supported Modules**: Gemini 330 series
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* **`enable_false_positive_filter`**
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* 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).
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> **Supported Modules**: Gemini 330 series / Gemini 340 series
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* **`enable_enhanced_depth`**
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* 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).
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> **Supported Modules**: Gemini 330 series
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* **`enhanced_depth_model_path`**
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* 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.
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> **Supported Modules**: Gemini 330 series
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* **`enhanced_depth_confidence_threshold`**
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* Confidence threshold for enhanced depth filtering. It must be an integer from `0` to `255`. The default is `51`.
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> **Supported Modules**: Gemini 330 series
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* **`enable_fps_boost`**
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* Enable device FPS Boost. The default is `false`; this parameter only takes effect when the device supports the `FPS Boost` property.
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> **Supported Modules:** Gemini 305 / Gemini 330 series
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* **`enable_edge_noise_removal_filter`**
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* Enable EdgeNoiseRemovalFilter to reduce edge noise in depth frames.
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> **Supported Modules**: DaBai Max Pro
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* **`enable_disp_outliers_filter`**
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* Enable DispOutliersFilter to remove disparity outliers in depth frames.
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> **Supported Modules**: DaBai Max Pro
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* **`disp_outliers_filter_search_mode`**
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* Set the DispOutliersFilter search mode. Leave it empty to keep the SDK default. Options: `FULL`, `OFFSET_80`. The value is case-insensitive.
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> **Supported Modules**: DaBai Max Pro
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## Basic & General Parameters
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### Firmware & Backend
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@@ -325,6 +291,8 @@ The following are the launch parameters available:
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* **`time_domain`**
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* Select timestamp type: `device`, `global`, and `system`.
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* This parameter is case-insensitive. Use one of the valid values listed above.
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* **`enable_ptp_config`**
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* Enable PTP time synchronization. Requires `enable_sync_host_time` to be `false`.
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* **`timestamp_clock_type`**
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* Set the SDK timestamp clock type. Optional values: `realtime`, `monotonic`. When the launch argument is empty, the node does not explicitly set the SDK clock type.
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* **`time_sync_period`**
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@@ -400,6 +368,8 @@ The following are the launch parameters available:
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* Enable the Depth hardware noise removal filter. For Gemini 330 series devices, an empty value uses the SDK default. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
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* **`enable_noise_removal_filter`**
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* Enable the Depth software noise removal filter. For Gemini 330 series devices, an empty value uses the SDK default. Set `noise_removal_filter_min_diff`, etc. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
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* **`enable_false_positive_filter`**
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* 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).
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* **`enable_spatial_filter`**
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* Enable the Depth spatial filter. Set with `spatial_filter_alpha`, etc. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
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* **`enable_temporal_filter`**
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@@ -414,6 +384,18 @@ The following are the launch parameters available:
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* Enable the MGC noise removal filter. This parameter is available for Astra Mini (S) Pro, DaBai Pro Max, and DaBai DCW2.
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* **`enable_lut_noise_removal_filter`**
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* Enable the LUT noise removal filter. This parameter is available for Astra Mini (S) Pro, DaBai Pro Max, and DaBai DCW2.
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* **`enable_enhanced_depth`**
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* 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).
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* **`enhanced_depth_model_path`**
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* 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.
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* **`enhanced_depth_confidence_threshold`**
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* Confidence threshold for enhanced depth filtering. It must be an integer from `0` to `255`. The default is `51`.
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* **`enable_edge_noise_removal_filter`**
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* Enable EdgeNoiseRemovalFilter to reduce edge noise in depth frames.
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* **`enable_disp_outliers_filter`**
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* Enable DispOutliersFilter to remove disparity outliers in depth frames.
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* **`disp_outliers_filter_search_mode`**
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* Set the DispOutliersFilter search mode. Leave it empty to keep the SDK default. Options: `FULL`, `OFFSET_80`. The value is case-insensitive.
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---
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@@ -59,12 +59,16 @@
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```bash
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ros2 run orbbec_camera list_devices_node
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```
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* **`preset_resolution_config`**
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* 摄像头设备的预设分辨率配置。格式："width,height,ir_decimation_factor,depth_decimation_factor"。例如："1280,720,4,4"。留空禁用。
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* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
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* 传感器流的分辨率和帧率。
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* Femto Mega / Femto Bolt 的深度 NFOV、WFOV 模式通过深度和 IR 分辨率组合配置，参考 [深度 NFOV 和 WFOV 模式配置](../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md)。
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* 如需降低 CPU 使用率，可参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md) 中的 `color_format` 建议。
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* **`enable_[color|depth|left_ir|right_ir|ir]`**
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* 启用或关闭对应图像流。
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* **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`**
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* 设置下采样倍数。可用 `ros2 run orbbec_camera list_camera_profile_mode_node` 查看可设置分辨率。**默认值：** `1`。
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* **`color_frame_queue_max_frames`**、**`left_color_frame_queue_max_frames`**、**`right_color_frame_queue_max_frames`**
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* 设置对应彩色帧线程缓存的最大帧数，默认值为 `10`。队列满时会丢弃最旧帧，并增加溢出计数；当前队列长度和溢出统计可通过 `/camera/get_color_queue_stats` 查询。
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* **`[color|depth|left_ir|right_ir|ir]_rotation`**
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@@ -103,6 +107,8 @@
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* 使用 SDK 回放指定 `.bag` 文件。设置后节点从 bag 文件创建回放设备，而不是连接真实相机。
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* **`bag_loop`**
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* SDK bag 回放结束后是否循环播放。默认值：`false`。仅在设置 `bag_filename` 时生效。
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* **`enable_fps_boost`**
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* 启用设备 FPS Boost。默认值为 `false`；仅在设备支持 `FPS Boost` 属性时生效。
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## 传感器控制
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@@ -123,12 +129,20 @@
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* 设置彩色自动曝光的最大曝光值。
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* **`color_ae_max_gain`**
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* 设置彩色自动曝光的最大增益。Gemini 2 固件 `1.5.04` 及以上、Gemini 2L 固件 `1.5.09` 及以上支持。范围通常为 `16–112`，具体范围以设备属性为准。
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* **`ae_reference_stream`**
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* 设置自动曝光参考流。可选值：`depth`、`color`，默认值为 `depth`。
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* 该参数替代旧参数 `ae_mode`，旧值 `depthbased/colorbased` 对应新值 `depth/color`。
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* **`ae_strategy`**
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* 设置自动曝光策略。可选值：`default`、`motion`，默认值为 `motion`。
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* 该参数替代旧参数 `enable_sports_mode`。
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* **`color_brightness`**、**`color_sharpness`**、**`color_gamma`**、**`color_saturation`**、**`color_contrast`**、**`color_hue`**
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* 设置彩色亮度、锐度、伽马、饱和度、对比度和色调。
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* **`color_backlight_compensation`**
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* 设置彩色相机的背光补偿等级。可设置范围为 `0–6`；launch 默认值为 `-1`，表示不修改设备当前值。
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* **`color_powerline_freq`**
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* 设置电源线频率。可能的值为 `disable`、`50hz`、`60hz`、`auto`。
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* **`color_mjpeg_quality`**
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* 设置彩色 MJPEG 编码质量。**范围：** `1–100`，**默认值：** `-1`（不修改设备当前值）。需要固件版本大于等于 `1.8.11`。
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* **`color_preset`**
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* 通过名称设置彩色 preset。Gemini 330 系列和 Gemini 301 系列设备支持。常见可选值包括 `Default`、`Warm Biased AWB`、`Cold Biased AWB`，具体列表以设备返回为准。名称匹配大小写不敏感。
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* **`color_anti_flicker`**
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@@ -183,6 +197,8 @@
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### 多相机同步
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* **`sync_mode`**
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* 设置同步模式。具体默认值由所使用的 launch 文件决定。多相机连接、同步模式和触发配置参考 [多相机同步](../5_advanced_guide/multi_camera/multi_camera_synced.md)。
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* 启用 GMSL 触发输出信号 / 设置 GMSL 触发帧率。具体配置参考 [GMSL 相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
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* **`depth_delay_us`** / **`color_delay_us`**
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* 接收捕获命令或触发信号后深度/彩色图像捕获的延迟时间（微秒）。
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* **`trigger2image_delay_us`**
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@@ -197,7 +213,6 @@
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* 触发模式下每次触发后每个流的帧数。
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* **`sync_io_voltage_level`**
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* 设置同步 IO 电压等级。默认值为 `-1`，表示不设置。仅支持具备该属性的设备；可通过 `/camera/set_sync_io_voltage_level` 服务在运行时修改。
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> **支持模组**：Gemini 301 系列。
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### 网络相机
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* **`enumerate_net_device`**
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@@ -247,54 +262,6 @@
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- **`intra_camera_sync_reference`**
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- 设置支持的 Gemini 330/335 系列设备的相机内同步参考点。**选项：** `Start`、`Middle`、`End`。参数为空时，节点不修改设备当前设置。
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## 设备特定参数
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* 启用 GMSL 触发输出信号 / 设置 GMSL 触发帧率。支持 Gemini 335Lg、338Lg、345Lg 和 305g，具体参考 [GMSL 相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
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* **`enable_ptp_config`**
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* 启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。
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> **支持模组**：Gemini 335Le。
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* **`preset_resolution_config`**
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* 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 留空禁用。
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> **支持模组**：Gemini 435Le。
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* **`ae_reference_stream`**
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* 设置自动曝光参考流。可选值：`depth`、`color`，默认值为 `depth`。
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> **支持模组**：Gemini 301 系列。
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> **兼容说明**：该参数替代旧参数 `ae_mode`，旧值 `depthbased/colorbased` 对应新值 `depth/color`。
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* **`ae_strategy`**
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* 设置自动曝光策略。可选值：`default`、`motion`，默认值为 `motion`。
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> **支持模组**：Gemini 301 系列。
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> **兼容说明**：该参数替代旧参数 `enable_sports_mode`。
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* **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`**
|
||||
* 设置下采样倍数。可用`ros2 run orbbec_camera list_camera_profile_mode_node`查看可设置分辨率。**默认值：** `1`
|
||||
> **支持模组**：Gemini 301 系列。
|
||||
* **`color_mjpeg_quality`**
|
||||
* 设置彩色 MJPEG 编码质量。**范围：** `1–100`，**默认值：** `-1`（不修改设备当前值）。需要固件版本大于等于 `1.8.11`。
|
||||
> **支持模组**：Gemini 330 系列。
|
||||
* **`enable_false_positive_filter`**
|
||||
* 启用鬼影滤波。可减少重影噪声，使用示例和运行时调参方法请参考 [Gemini 330 系列 FalsePositiveFilter 使用说明](../5_advanced_guide/configuration/false_positive_filter.md)。
|
||||
> **支持模组**：Gemini 330 系列 / Gemini 340 系列。
|
||||
* **`enable_enhanced_depth`**
|
||||
* 启用 LingBot 增强深度滤波，默认值为 `false`。该功能需要同时启用 Color 和 Depth，并配置 D2C/C2D 对齐。完整环境、启动和图像要求请参考 [Gemini 330 系列 EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
|
||||
> **支持模组**：Gemini 330 系列。
|
||||
* **`enhanced_depth_model_path`**
|
||||
* LingBot `model.sm4` 文件路径，默认值为空。启用增强深度滤波时必须设置，建议使用绝对路径；运行时不能更换模型文件。
|
||||
> **支持模组**：Gemini 330 系列。
|
||||
* **`enhanced_depth_confidence_threshold`**
|
||||
* 增强深度滤波的置信度阈值，必须是 `0` 到 `255` 之间的整数，默认值为 `51`。
|
||||
> **支持模组**：Gemini 330 系列。
|
||||
* **`enable_fps_boost`**
|
||||
* 启用设备 FPS Boost。默认值为 `false`；仅在设备支持 `FPS Boost` 属性时生效。
|
||||
> **支持模组：** Gemini 305 / Gemini 330 系列。
|
||||
* **`enable_edge_noise_removal_filter`**
|
||||
* 启用 EdgeNoiseRemovalFilter，用于减少深度图边缘噪声。
|
||||
> **支持模组**：DaBai Max Pro。
|
||||
* **`enable_disp_outliers_filter`**
|
||||
* 启用 DispOutliersFilter，用于移除深度图中的视差离群点。
|
||||
> **支持模组**：DaBai Max Pro。
|
||||
* **`disp_outliers_filter_search_mode`**
|
||||
* 设置 DispOutliersFilter 的搜索模式。留空表示使用 SDK 默认值。可选值：`FULL`、`OFFSET_80`，大小写不敏感。
|
||||
> **支持模组**：DaBai Max Pro。
|
||||
|
||||
## 基础与通用参数
|
||||
|
||||
### 固件与后端
|
||||
@@ -325,6 +292,8 @@
|
||||
* **`time_domain`**
|
||||
* 选择时间戳类型：`device`、`global` 和 `system`。
|
||||
* 该参数大小写不敏感；请使用上述有效值。
|
||||
* **`enable_ptp_config`**
|
||||
* 启用 PTP 时间同步。需要 `enable_sync_host_time` 设置为 `false`。
|
||||
* **`timestamp_clock_type`**
|
||||
* 设置 SDK 时间戳时钟类型。可选值：`realtime`、`monotonic`。launch 参数为空时不显式设置 SDK 时钟类型。
|
||||
* **`time_sync_period`**
|
||||
@@ -399,6 +368,8 @@
|
||||
* 启用深度硬件降噪滤波器。Gemini 330 系列设备中，参数为空表示使用 SDK 默认值。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
|
||||
* **`enable_noise_removal_filter`**
|
||||
* 启用深度软件降噪滤波器。Gemini 330 系列设备中，参数为空表示使用 SDK 默认值。使用 `noise_removal_filter_min_diff` 等参数设置。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
|
||||
* **`enable_false_positive_filter`**
|
||||
* 启用鬼影滤波。可减少重影噪声，使用示例和运行时调参方法请参考 [Gemini 330 系列 FalsePositiveFilter 使用说明](../5_advanced_guide/configuration/false_positive_filter.md)。
|
||||
* **`enable_spatial_filter`**
|
||||
* 启用深度空间滤波器。使用 `spatial_filter_alpha` 等设置。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
|
||||
* **`enable_temporal_filter`**
|
||||
@@ -413,6 +384,18 @@
|
||||
* 启用 MGC 降噪滤波器。适配机型包括 Astra Mini (S) Pro、DaBai Pro Max、DaBai DCW2。
|
||||
* **`enable_lut_noise_removal_filter`**
|
||||
* 启用 LUT 降噪滤波器。适配机型包括 Astra Mini (S) Pro、DaBai Pro Max、DaBai DCW2。
|
||||
* **`enable_enhanced_depth`**
|
||||
* 启用 LingBot 增强深度滤波，默认值为 `false`。该功能需要同时启用 Color 和 Depth，并配置 D2C/C2D 对齐。完整环境、启动和图像要求请参考 [Gemini 330 系列 EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
|
||||
* **`enhanced_depth_model_path`**
|
||||
* LingBot `model.sm4` 文件路径，默认值为空。启用增强深度滤波时必须设置，建议使用绝对路径；运行时不能更换模型文件。
|
||||
* **`enhanced_depth_confidence_threshold`**
|
||||
* 增强深度滤波的置信度阈值，必须是 `0` 到 `255` 之间的整数，默认值为 `51`。
|
||||
* **`enable_edge_noise_removal_filter`**
|
||||
* 启用 EdgeNoiseRemovalFilter，用于减少深度图边缘噪声。
|
||||
* **`enable_disp_outliers_filter`**
|
||||
* 启用 DispOutliersFilter，用于移除深度图中的视差离群点。
|
||||
* **`disp_outliers_filter_search_mode`**
|
||||
* 设置 DispOutliersFilter 的搜索模式。留空表示使用 SDK 默认值。可选值：`FULL`、`OFFSET_80`，大小写不敏感。
|
||||
|
||||
---
|
||||
|
||||
|
||||
Reference in New Issue
Block a user