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Add instructions for switching between depth NFOV and WFOV modes in the Readme.

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lixiaobin
2023-10-11 14:15:17 +08:00
parent c0a2ecae34
commit 6773f42472
2 changed files with 55 additions and 40 deletions
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README.MD
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@@ -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