From 6773f42472fc99eac427f2447a2cdb134a286848 Mon Sep 17 00:00:00 2001
From: lixiaobin <lixiaobin@orbbec.com>
Date: Wed, 11 Oct 2023 14:15:17 +0800
Subject: [PATCH] Add instructions for switching between depth NFOV  and WFOV
 modes in the Readme.

---
 README.MD    | 48 ++++++++++++++++++++++++++++--------------------
 README_CN.MD | 47 +++++++++++++++++++++++++++--------------------
 2 files changed, 55 insertions(+), 40 deletions(-)

diff --git a/README.MD b/README.MD
index 85796ea3..718e6bf5 100644
--- a/README.MD
+++ b/README.MD
@@ -147,26 +147,6 @@ ros2 service call /camera/toggle_ir std_srvs/srv/SetBool "{data : true}"
 ros2 service call /camera/save_point_cloud std_srvs/srv/Empty "{}"
 ```
 
-- Depth work mode switch:
-- Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py file's support.
-- The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras.
-- The default depth work mode configuration of xxx.launch.py is the camera's default configuration. If you need to modify it, you can switch to the corresponding mode as needed.
-- The specific camera depth work mode support types can be found in the comments of the depth mode.
-
-```python
-    # Depth work mode support is as follows:
-    # Unbinned Dense Default
-    # Unbinned Sparse Default
-    # Binned Sparse Default
-    DeclareLaunchArgument('depth_work_mode', default_value='')
-```
-
-- View depth work modes:
-
-```bash
-ros2 run orbbec_camera list_depth_work_mode_node
-```
-
 ### All available service for camera control
 
 The name of the following service already expresses its function.
@@ -356,6 +336,34 @@ The following are the launch parameters available:
   are `16dps`,`31dps`,`62dps`,`125dps`,`250dps`,`500dps`,`1000dps`,`2000dps`. The specific value depends on the current
   camera.
 
+## Depth work mode switch
+- Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py file's support.
+- The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras.
+- The default depth work mode configuration of xxx.launch.py is the camera's default configuration. If you need to modify it, you can switch to the corresponding mode as needed.
+- The specific camera depth work mode support types can be found in the comments of the depth mode.
+
+```python
+    # Depth work mode support is as follows:
+    # Unbinned Dense Default
+    # Unbinned Sparse Default
+    # Binned Sparse Default
+    DeclareLaunchArgument('depth_work_mode', default_value='')
+```
+
+- View depth work modes:
+
+```bash
+ros2 run orbbec_camera list_depth_work_mode_node
+```
+
+## For Femto Mega and Femto Bolt devices, the depth NFOV and WFOV modes are achieved by configuring different resolutions in the depth startup parameters.
+
+The depth startup parameters depth_width and depth_height specify the resolution of the depth stream. The corresponding resolutions for different modes are as follows:
+- NFOV unbinned: 640 x 576.
+- NFOV binned: 320 x 288.
+- WFOV unbinned: 1024 x 1024.
+- WFOV binned: 512 x 512.
+
 ## Check which profiles the camera supports
 
   ```bash
diff --git a/README_CN.MD b/README_CN.MD
index 788ca313..c753f6f1 100644
--- a/README_CN.MD
+++ b/README_CN.MD
@@ -151,26 +151,6 @@ ros2 service call /camera/toggle_ir std_srvs/srv/SetBool "{data : true}"
 ros2 service call /camera/save_point_cloud std_srvs/srv/Empty "{}"
 ```
 
-- 深度模式切换：
-- 启动相机前,可通过配置对应相继的xxx.launch.py的深度模式(depth_work_mode)支持。
-- 深度模式切换支持的相机:Gemini 2, Gemini 2 L,Gemini 2 XL。
-- xxx.launch.py默认深度模式配置为相机默认配置,如果需要修改可根据需要切换相应深度模式。
-- 具体相机深度模式支持类型可查看深度模式的注释。
-
-```python
-    # Depth work mode support is as follows:
-    # Unbinned Dense Default
-    # Unbinned Sparse Default
-    # Binned Sparse Default
-    DeclareLaunchArgument('depth_work_mode', default_value='')
-```
-
-- 深度工作模式查看:
-
-```bash
-ros2 run orbbec_camera list_depth_work_mode_node
-```
-
 ### 所有相机控制的service
 
 下面的这些服务的名字已经表明了它的功能，但是要注意的是只有当在launch文件里面把相关数据流打开的时候才能用。
@@ -343,6 +323,33 @@ ros2 launch orbbec_camera multi_camera.launch.py
 - `gyro_range` : 陀螺仪的量程, 可选值为`16dps`,`31dps`,`62dps`,`125dps`,`250dps`,`500dps`,`1000dps`,`2000dps`
   。具体的值取决于当前的相机型号。
 
+## 深度模式切换：
+- 启动相机前,可通过配置对应相继的xxx.launch.py的深度模式(depth_work_mode)支持。
+- 深度模式切换支持的相机:Gemini 2, Gemini 2 L,Gemini 2 XL。
+- xxx.launch.py默认深度模式配置为相机默认配置,如果需要修改可根据需要切换相应深度模式。
+- 具体相机深度模式支持类型可查看深度模式的注释。
+
+```python
+    # Depth work mode support is as follows:
+    # Unbinned Dense Default
+    # Unbinned Sparse Default
+    # Binned Sparse Default
+    DeclareLaunchArgument('depth_work_mode', default_value='')
+```
+
+- 深度工作模式查看:
+
+```bash
+ros2 run orbbec_camera list_depth_work_mode_node
+```
+
+## 对于Femto Mega和Femto Bolt设备，深度NFOV和WFOV模式需要通过配置深度启动参数不同分辨率实现
+  深度启动参数`depth_width`, `depth_height`为深度流的分辨率，不同模式和分辨率对应关系：
+- NFoV unbinned：640 x 576。
+- NFoV binned：320 x 288。
+- WFoV unbinned：1024 x1024。
+- WFoV binned：512 x 512。
+
 ## 查看相机支持那些Profile
 
   ```bash