docs: update the documentation to version 2.8.8

2026-10-04 20:17:47 +08:00 · 2026-06-06 15:00:20 +08:00
parent 14e481abfe
commit 64bd2e9145
16 changed files with 212 additions and 73 deletions
@@ -15,7 +15,7 @@ The following are the launch parameters available:
 *   **`device_num`**
    *   The number of devices. This must be filled in if multiple cameras are required.
 * **`device_preset`**
-    * The default value is `Default`. You can use the following command to view the configurable mode
+    * The default value is determined by the launch file. You can use the following command to view the configurable modes; the tool also prints the preset list and preset version information.
    ```bash
    ros2 run orbbec_camera list_camera_profile_mode_node
    ```
@@ -177,10 +177,11 @@ The following are the launch parameters available:
  > **Supported Modules**: Gemini 305
 * **`enable_false_positive_filter`**
  * Enable this option to reduce ghosting noise.
-  > **Supported Modules**: DaBaiA / DaBaiAL / Gemini345 / Gemini345Lg
+  > **Supported Modules**: DaBaiA / DaBaiAL / Gemini 330 series / Gemini345 / Gemini345Lg
 #### Disparity
 *   **`disparity_to_depth_mode`**
-    *   `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion.
+    *   `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion. Use `disable` to turn it off.
+    *   This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
 *   **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`**
    *   Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/configuration/disparity_search_offset.md).

@@ -199,11 +200,13 @@ The following are the launch parameters available:
  *   Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`.
 - **`align_mode`**
  *   The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
+  *   This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
 - **`align_target_stream`**
  *   Set align target stream mode.
  *   The possible values are `COLOR`, `DEPTH`.
  *   `COLOR`: Align depth to color.
  *   `DEPTH`: Align color to depth.
+  *   This parameter is case-insensitive. Hardware D2C only supports `COLOR` as the target stream; use `align_mode:=SW` if you need to align to `DEPTH`.
 - **`intra_camera_sync_reference`**
  - 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.

@@ -228,24 +231,27 @@ The following are the launch parameters available:
    *   Enable the extrinsics publish.
 *   **`ir_info_url`** / **`color_info_url`**
    *   Set URL of the IR/color camera info.
-*   **`enable_color_undistortion`**
-    *   Enable the Color undistortion.
+*   **`enable_[color|depth|ir|left_ir|right_ir]_undistortion`**
+    *   Enable the SDK undistortion filter for the selected image stream. Dual-IR devices use `enable_left_ir_undistortion` / `enable_right_ir_undistortion`; single-IR devices use `enable_ir_undistortion`.

 #### Time Synchronization
 * **`enable_sync_host_time`**
  * Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
 * **`time_domain`**
  * Select timestamp type: `device`, `global`, and `system`.
+  * This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
+* **`timestamp_clock_type`**
+  * Set the SDK timestamp clock type. Optional values: `realtime`, `monotonic`. The default is `realtime`.
 * **`time_sync_period`**
  * Interval (in seconds) for synchronizing the camera time with the host system.
  > **Note**: This parameter only needs to be set when `enable_sync_host_time = true` and `time_domain = device`.

 * **`enable_frame_sync`**
  * Enable the frame synchronization.
-* **`enable_frame_timestamp_csv`**
-  * Enable frame timestamp CSV logging. This is mainly used to analyze Color/Depth frame timestamps, publish latency, and synchronization issues.
+* **`enable_frame_drop_log`**
+  * Enable frame drop logging. The log reports drops detected at both the SDK receive stage and the ROS publish stage.
 * **`frame_timestamp_csv_file`**
-  * Path of the frame timestamp CSV file. If empty, the default path is used; specify a writable path when debugging.
+  * CSV output path for frame timestamp statistics. If empty, no CSV file is written; set a path such as `/tmp/frame_timestamp.csv` to save CSV data.

 #### Logging & Diagnostics
 * **`log_level`**
@@ -263,8 +269,13 @@ The following are the launch parameters available:
 #### Miscellaneous
 *   **`config_file_path`**
    *   The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used.
+*   **`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.
+*   **`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.
 *   **`frame_aggregate_mode`**
    *   Set frame aggregate output mode. Optional values: `full_frame`, `color_frame`, `ANY`, `disable`.
+    *   This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
 *   **`enable_d2c_viewer`**
    *   Publishes the D2C overlay image (for testing only).

@@ -161,6 +161,10 @@
    ```bash
    ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
    ```
+*   `/camera/export_config_json`
+    ```bash
+    ros2 service call /camera/export_config_json orbbec_camera_msgs/srv/SetString "{data: '/tmp/orbbec_camera_config.json'}"
+    ```
 *   `/camera/reboot_device`
    ```bash
    ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'
@@ -191,7 +195,9 @@

 *   `/camera/set_filter`
    ```bash
-    # filter_name is the filter name, filter_enable indicates whether the filter is enabled or disabled, and filter_param represents the filter parameters.
+    # 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.
+    # filter_param and filter_config cannot be used at the same time.

    # Set DecimationFilter: [scale]
    ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
@@ -222,6 +228,11 @@
    # Set MgcNoiseRemovalFilter / LutNoiseRemovalFilter: []
    ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: MgcNoiseRemovalFilter, filter_enable: true, filter_param: []}'
    ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: LutNoiseRemovalFilter, filter_enable: true, filter_param: []}'
+
+    # Tune filters with named parameters
+    ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: NoiseRemovalFilter, filter_enable: true, filter_config: [{name: min_diff, value: '256'}, {name: max_size, value: '80'}]}"
+    ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: HardwareNoiseRemovalFilter, filter_enable: true, filter_config: [{name: threshold, value: '0.2'}]}"
+    ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_config: [{name: alpha, value: '0.5'}, {name: disp_diff, value: '160'}, {name: magnitude, value: '1'}, {name: radius, value: '8'}]}"
    ```

    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.
@@ -9,7 +9,9 @@ Topics are organized by stream and function. By default, all topics are publishe
 These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for `color`, `depth`, `ir`, `left_ir`, and `right_ir` streams.

 *   `/camera/color/image_raw`
-    *   Raw image data from the color stream.
+    *   Raw image data from the color stream. Subscribe to this topic for non-MJPG color formats such as RGB or YUYV.
+*   `/camera/color/image_raw/compressed`
+    *   Compressed image data from the MJPG color stream. When `color_format:=MJPG` is used, subscribe to this topic to avoid extra decoding in the ROS wrapper and reduce CPU usage.
 *   `/camera/color/camera_info`
    *   Camera calibration data and metadata for the color stream.
 *   `/camera/color/metadata`