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docs: update launch parameters documentation with new settings and descriptions

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ob-yalian
2026-09-15 20:00:22 +08:00
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -59,12 +59,16 @@ The following are the launch parameters available:
```bash
ros2 run orbbec_camera list_devices_node
```
* **`preset_resolution_config`**
* 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.
* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
* The resolution and frame rate of the sensor stream.
* 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).
* For lower CPU usage, see the `color_format` recommendations in [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md).
* **`enable_[color|depth|left_ir|right_ir|ir]`**
* Enable or disable the corresponding image stream.
* **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`**
* Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`.
* **`color_frame_queue_max_frames`**, **`left_color_frame_queue_max_frames`**, **`right_color_frame_queue_max_frames`**
* 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`.
* **`[color|depth|left_ir|right_ir|ir]_rotation`**
@@ -103,6 +107,8 @@ The following are the launch parameters available:
* 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.
* **`bag_loop`**
* Loop SDK bag playback after the file reaches the end. Default: `false`. This only takes effect when `bag_filename` is set.
* **`enable_fps_boost`**
* Enable device FPS Boost. The default is `false`; this parameter only takes effect when the device supports the `FPS Boost` property.
## Sensor Controls
@@ -123,12 +129,20 @@ The following are the launch parameters available:
* Set the maximum exposure value for Color auto exposure.
* **`color_ae_max_gain`**
* 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.
* **`ae_reference_stream`**
* Set the auto-exposure reference stream. Options: `depth`, `color`. Default: `depth`.
* This replaces the old `ae_mode` parameter. The old values `depthbased/colorbased` map to `depth/color`.
* **`ae_strategy`**
* Set the auto-exposure strategy. Options: `default`, `motion`. Default: `motion`.
* This replaces the old `enable_sports_mode` parameter.
* **`color_brightness`**, **`color_sharpness`**, **`color_gamma`**, **`color_saturation`**, **`color_contrast`**, **`color_hue`**
* Set the Color brightness, sharpness, gamma, saturation, contrast, and hue.
* **`color_backlight_compensation`**
* 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.
* **`color_powerline_freq`**
* Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`.
* **`color_mjpeg_quality`**
* 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.
* **`color_preset`**
* 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.
* **`color_anti_flicker`**
@@ -182,6 +196,8 @@ The following are the launch parameters available:
### Multi-Camera Synchronization
* **`sync_mode`**
* 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.
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* 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.
* **`depth_delay_us`** / **`color_delay_us`**
* The delay time (microseconds) of the depth/color image capture after receiving the capture command or trigger signal.
* **`trigger2image_delay_us`**
@@ -196,7 +212,6 @@ The following are the launch parameters available:
* The frame number of each stream after each trigger in triggering mode.
* **`sync_io_voltage_level`**
* 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`.
> **Supported Modules**: Gemini 301 series.
### Network Cameras
* **`enumerate_net_device`**
@@ -246,55 +261,6 @@ The following are the launch parameters available:
- **`intra_camera_sync_reference`**
- 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.
## Device-Specific Parameters
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* 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).
>
* **`enable_ptp_config`**
* Enable PTP time synchronization. Requires `enable_sync_host_time` to be `false`.
> **Supported Modules**: Gemini 335Le
* **`preset_resolution_config`**
* 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.
> **Supported Modules**: Gemini 435Le
* **`ae_reference_stream`**
* Set the auto-exposure reference stream. Options: `depth`, `color`. Default: `depth`.
> **Supported Modules**: Gemini 301 series.
> **Compatibility**: This replaces the old `ae_mode` parameter. The old values `depthbased/colorbased` map to `depth/color`.
* **`ae_strategy`**
* Set the auto-exposure strategy. Options: `default`, `motion`. Default: `motion`.
> **Supported Modules**: Gemini 301 series.
> **Compatibility**: This replaces the old `enable_sports_mode` parameter.
* **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`**
* Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`
> **Supported Modules**: Gemini 301 series
* **`color_mjpeg_quality`**
* 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 [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 [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.
> **Supported Modules**: Gemini 330 series
* **`enhanced_depth_confidence_threshold`**
* Confidence threshold for enhanced depth filtering. It must be an integer from `0` to `255`. The default is `51`.
> **Supported Modules**: Gemini 330 series
* **`enable_fps_boost`**
* Enable device FPS Boost. The default is `false`; this parameter only takes effect when the device supports the `FPS Boost` property.
> **Supported Modules:** Gemini 305 / Gemini 330 series
* **`enable_edge_noise_removal_filter`**
* Enable EdgeNoiseRemovalFilter to reduce edge noise in depth frames.
> **Supported Modules**: DaBai Max Pro
* **`enable_disp_outliers_filter`**
* Enable DispOutliersFilter to remove disparity outliers in depth frames.
> **Supported Modules**: DaBai Max Pro
* **`disp_outliers_filter_search_mode`**
* Set the DispOutliersFilter search mode. Leave it empty to keep the SDK default. Options: `FULL`, `OFFSET_80`. The value is case-insensitive.
> **Supported Modules**: DaBai Max Pro
## Basic & General Parameters
### Firmware & Backend
@@ -325,6 +291,8 @@ The following are the launch parameters available:
* **`time_domain`**
* Select timestamp type: `device`, `global`, and `system`.
* This parameter is case-insensitive. Use one of the valid values listed above.
* **`enable_ptp_config`**
* Enable PTP time synchronization. Requires `enable_sync_host_time` to be `false`.
* **`timestamp_clock_type`**
* 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.
* **`time_sync_period`**
@@ -400,6 +368,8 @@ The following are the launch parameters available:
* 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.
* **`enable_noise_removal_filter`**
* 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.
* **`enable_false_positive_filter`**
* 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).
* **`enable_spatial_filter`**
* 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.
* **`enable_temporal_filter`**
@@ -414,6 +384,18 @@ The following are the launch parameters available:
* Enable the MGC noise removal filter. This parameter is available for Astra Mini (S) Pro, DaBai Pro Max, and DaBai DCW2.
* **`enable_lut_noise_removal_filter`**
* Enable the LUT noise removal filter. This parameter is available for Astra Mini (S) Pro, DaBai Pro Max, and DaBai DCW2.
* **`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 [Gemini 330 Series EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
* **`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.
* **`enhanced_depth_confidence_threshold`**
* Confidence threshold for enhanced depth filtering. It must be an integer from `0` to `255`. The default is `51`.
* **`enable_edge_noise_removal_filter`**
* Enable EdgeNoiseRemovalFilter to reduce edge noise in depth frames.
* **`enable_disp_outliers_filter`**
* Enable DispOutliersFilter to remove disparity outliers in depth frames.
* **`disp_outliers_filter_search_mode`**
* Set the DispOutliersFilter search mode. Leave it empty to keep the SDK default. Options: `FULL`, `OFFSET_80`. The value is case-insensitive.
---