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docs: update camera feature documentation
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@@ -40,19 +40,14 @@ The following are the launch parameters available:
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* ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively.
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* **`color.image_raw.enable_pub_plugins`**
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* Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`depth.image_raw.enable_pub_plugins`**
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* Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`left_ir.image_raw.enable_pub_plugins`**
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* Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`right_ir.image_raw.enable_pub_plugins`**
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* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`point_cloud_decimation_filter_factor`**
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* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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### Sensor Controls
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@@ -71,18 +66,22 @@ The following are the launch parameters available:
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* Set the Color white balance.
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* **`color_ae_max_exposure`**
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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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* **`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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* Enables the color camera’s backlight compensation feature. **Range**: `0–6`, **Default**: `3`.
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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_anti_flicker`**
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* Enable Color anti-flicker. Supported by Gemini 330 series firmware `1.7.13` and above, and Gemini 305 series firmware `1.0.54` and above.
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* **`enable_color_decimation_filter`** / **`color_decimation_filter_scale`**
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* Enable the Color decimation filter and set its scale.
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* **`color_ae_roi_[left|right|top|bottom]`**
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* Set Color auto exposure ROI.
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* **`color_denoising_level`**
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* Enables the ISP denoising feature for Gemini 330 series devices. **Range:** `0–8`, **Default:** `0` (auto).
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* Enable ISP Color denoising. **Range:** `0–8`; `0` means auto. Supported by Gemini 330 series, Gemini 2 firmware `1.5.04` and above, and Gemini 2L firmware `1.5.09` and above. This feature requires Color auto exposure and new firmware support.
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#### Depth Stream
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@@ -142,19 +141,14 @@ The following are the launch parameters available:
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* Set net device's IP address and port (Usually `8090`).
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* **`force_ip_enable`**
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* Enable the Force IP function. **Default:** `false`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* **`force_ip_mac`**
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* Target device MAC address when multiple cameras are connected (e.g., `"54:14:FD:06:07:DA"`). You can use the `list_devices_node` to find the MAC of each device. **Default:** `""`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* **`force_ip_address`**
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* Static IP address to assign. **Default:** `192.168.1.10`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* **`force_ip_subnet_mask`**
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* Subnet mask for the static IP. **Default:** `255.255.255.0`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* **`force_ip_gateway`**
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* Gateway address for the static IP. **Default:** `192.168.1.1`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
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#### Device-Specific
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@@ -165,27 +159,23 @@ The following are the launch parameters available:
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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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> **Supported Versions**: Wrapper version 2.3.4 and above.
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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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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`ae_mode`**
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* `colorbased`: Automatic exposure based on color flow. `depthbased`: Automatic exposure based on depth flow. **Default:** `depthbased`
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> **Supported Modules**: Gemini 305
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> **Supported Versions**: Wrapper version 2.7.2 and above.
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* **`enalbe_sports_mode`**
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* Whether to enable sports mode. **Default:** `false`
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> **Supported Modules**: Gemini 305
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> **Supported Versions**: Wrapper version 2.7.2 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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> **Supported Modules**: Gemini 305 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 305 series.
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> **Compatibility**: This replaces the old `enable_sports_mode` parameter.
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* **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`**
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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 305
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> **Supported Versions**: Wrapper version 2.7.2 and above.
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* **`enable_false_positive_filter`**
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* Enable this option to reduce ghosting noise.
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> **Supported Modules**: DaBaiA / DaBaiAL / Gemini345 / Gemini345Lg
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> **Supported Versions**: Wrapper version 2.7.6 and above; Firmware version 1.9.03 and above.
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#### Disparity
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* **`disparity_to_depth_mode`**
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* `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion.
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@@ -214,13 +204,12 @@ The following are the launch parameters available:
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* `DEPTH`: Align color to depth.
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- **`intra_camera_sync_reference`**
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- Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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### Basic & General Parameters
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#### Firmware & Backend
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* **`upgrade_firmware`**
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* The input parameter is the firmware path.
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* The input parameter is the firmware path. For new versions, use the standalone `firmware_update_tool` for firmware updates.
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* **`preset_firmware_path`**
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* The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input.
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* **`uvc_backend`**
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@@ -248,17 +237,22 @@ The following are the launch parameters available:
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* **`time_sync_period`**
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* Interval (in seconds) for synchronizing the camera time with the host system.
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> **Note**: This parameter only needs to be set when `enable_sync_host_time = true` and `time_domain = device`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`enable_frame_sync`**
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* Enable the frame synchronization.
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* **`enable_frame_timestamp_csv`**
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* Enable frame timestamp CSV logging. This is mainly used to analyze Color/Depth frame timestamps, publish latency, and synchronization issues.
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* **`frame_timestamp_csv_file`**
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* Path of the frame timestamp CSV file. If empty, the default path is used; specify a writable path when debugging.
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#### Logging & Diagnostics
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* **`log_level`**
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* SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
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* Shared SDK and ROS node log level. By default, only current device status is printed; set it to `debug` for more debug logs. Optional values: `none`, `debug`, `info`, `warn`, `error`, `fatal`.
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* SDK logs and crash files are saved to `~/.ros/Log` by default. ROS logs remain in `~/.ros/log`.
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* **`log_file_name`**
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* Saved SDK log file name. Effective when `log_level` is `debug`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`enable_firmware_log`**
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* Enable firmware logging. This switch is independent from `enable_heartbeat` and can be enabled only when firmware logs are needed.
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* **`diagnostic_period`**
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* Diagnostic period in seconds.
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* **`enable_heartbeat`**
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@@ -311,6 +305,10 @@ The following are the launch parameters available:
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* Enable the Depth spatial fast filter. Set with `spatial_fast_filter_radius`.
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* **`enable_spatial_moderate_filter`**
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* Enable the Depth spatial moderate filter. Set with `spatial_moderate_filter_diff_threshold`, etc.
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* **`enable_mgc_noise_removal_filter`**
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* Enable the MGC noise removal filter, mainly for OpenNI devices that support this filter.
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* **`enable_lut_noise_removal_filter`**
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* Enable the LUT noise removal filter, mainly for OpenNI devices that support this filter.
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---
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@@ -128,7 +128,6 @@
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```bash
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ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
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```
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* `/camera/set_ldp_enable` & `/camera/get_ldp_status`
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```bash
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ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
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@@ -216,6 +215,26 @@
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# Set SpatialModerateFilter: [disp_diff, magnitude, radius]
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'
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# Set FalsePositiveFilter: []
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: FalsePositiveFilter, filter_enable: true, filter_param: []}'
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# Set MgcNoiseRemovalFilter / LutNoiseRemovalFilter: []
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: MgcNoiseRemovalFilter, filter_enable: true, filter_param: []}'
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: LutNoiseRemovalFilter, filter_enable: true, filter_param: []}'
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```
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Filter status is updated after service calls on `/camera/depth_filter_status` and `/camera/depth_filters/status`. `/camera/depth_filters/status` uses the structured `orbbec_camera_msgs/msg/DepthFiltersStatus` message and includes each filter's enabled state and parameters.
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### Disparity Configuration
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* `/camera/set_disparity_range_mode`
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```bash
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ros2 service call /camera/set_disparity_range_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
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```
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* `/camera/set_disparity_search_offset`
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```bash
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ros2 service call /camera/set_disparity_search_offset orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
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```
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### Data Capture
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@@ -237,7 +256,6 @@
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ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'
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```
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> **Supported Modules**: Gemini 435Le
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* `/camera/set_user_calib_params` & `/camera/get_user_calib_params`
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```bash
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ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
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@@ -259,29 +277,28 @@
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ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
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```
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> **Supported Modules**: Gemini 435Le
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* `/camera/set_ae_mode`
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* `/camera/set_ae_reference_stream`
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```bash
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# depthbased or colorbased
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ros2 service call /camera/set_ae_mode orbbec_camera_msgs/srv/SetString "data: depthbased"
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# depth or color
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ros2 service call /camera/set_ae_reference_stream orbbec_camera_msgs/srv/SetString "{data: depth}"
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```
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> **Supported Modules**: Gemini 305
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> **Supported Versions**: Wrapper version 2.7.2 and above.
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* `/camera/set_sports_mode`
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> **Supported Modules**: Gemini 305 series.
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> **Compatibility**: Replaces the old `/camera/set_ae_mode` service. The old values `depthbased/colorbased` map to `depth/color`.
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* `/camera/set_ae_strategy`
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```bash
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ros2 service call /camera/set_sports_mode std_srvs/srv/SetBool "data: true"
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# default or motion
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ros2 service call /camera/set_ae_strategy orbbec_camera_msgs/srv/SetString "{data: motion}"
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```
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> **Supported Modules**: Gemini 305
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> **Supported Versions**: Wrapper version 2.7.2 and above.
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> **Supported Modules**: Gemini 305 series.
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> **Compatibility**: Replaces the old `/camera/set_sports_mode` service.
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### Point cloud decimation
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* `/camera/set_point_cloud_decimation`
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```bash
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ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'
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```
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* `/camera/get_point_cloud_decimation`
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```bash
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ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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@@ -61,7 +61,11 @@ The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope d
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* Reports the current status of the camera device.
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* `/camera/depth_filter_status`
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* Reports the status of the depth sensor's post-processing filters.
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* Reports the status of the depth sensor's post-processing filters. The type is `std_msgs/msg/String`, and the content is a JSON string.
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* `/camera/depth_filters/status`
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* Reports the structured status of the depth sensor's post-processing filters. The type is `orbbec_camera_msgs/msg/DepthFiltersStatus`.
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* The message contains `DepthFilterState[] filters`; each filter state contains `filter_name`, `enabled`, and `DepthFilterParam[] params`.
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* `/diagnostics`
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* Publishes diagnostic information about the camera node. Currently, this includes the device temperature.
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