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docs: update launch parameters documentation with new disparity and intra-camera synchronization details
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ob-yalian
@@ -201,7 +201,39 @@ The following are the launch parameters available:
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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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### Device-Specific
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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. Use `disable` to turn it off.
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* This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
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* **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`**
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* Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/configuration/disparity_search_offset.md).
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### Interleave AE Mode
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* **`interleave_ae_mode`**
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* Set `laser` or `hdr` interleave.
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* **`interleave_frame_enable`**, **`interleave_skip_enable`**, **`interleave_skip_index`**
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* Parameters to control interleave frame mode.
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* **`[hdr|laser]_index[0|1]_[...]`**
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* In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
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* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/configuration/interleave_ae_mode.md).*
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### Intra-Camera Synchronization
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- **`depth_registration`**
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* Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
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- **`align_mode`**
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* The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
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* This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
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- **`align_target_stream`**
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* Set align target stream mode.
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* The possible values are `COLOR`, `DEPTH`.
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* `COLOR`: Align depth to color.
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* `DEPTH`: Align color to depth.
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* 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`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
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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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## Device-Specific Parameters
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* Enable the gmsl trigger out signal / set gmsl trigger fps.
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> Only supports [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
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@@ -235,37 +267,6 @@ The following are the launch parameters available:
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* **`disp_outliers_filter_search_mode`**
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* Set the DispOutliersFilter search mode. Leave it empty to keep the SDK default. Options: `FULL`, `OFFSET_80`. The value is case-insensitive.
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> **Supported Modules**: DaBai Max Pro
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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. Use `disable` to turn it off.
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* This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
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* **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`**
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* Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/configuration/disparity_search_offset.md).
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### Interleave AE Mode
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* **`interleave_ae_mode`**
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* Set `laser` or `hdr` interleave.
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* **`interleave_frame_enable`**, **`interleave_skip_enable`**, **`interleave_skip_index`**
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* Parameters to control interleave frame mode.
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* **`[hdr|laser]_index[0|1]_[...]`**
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* In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
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* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/configuration/interleave_ae_mode.md).*
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### Intra-Camera Synchronization
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- **`depth_registration`**
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* Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
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- **`align_mode`**
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* The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
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* This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
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- **`align_target_stream`**
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* Set align target stream mode.
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* The possible values are `COLOR`, `DEPTH`.
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* `COLOR`: Align depth to color.
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* `DEPTH`: Align color to depth.
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* 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`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
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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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## Basic & General Parameters
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@@ -202,39 +202,6 @@
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* **`force_ip_gateway`**
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* 静态IP的网关地址。**默认值：** `192.168.1.1`
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### 设备特定
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* 启用gmsl触发输出信号 / 设置gmsl触发fps。用于 [gmsl相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
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* **`enable_ptp_config`**
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* 启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。
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> **支持模组**：Gemini 335Le。
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* **`preset_resolution_config`**
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* 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 留空禁用。
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> **支持模组**：Gemini 435Le。
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* **`ae_reference_stream`**
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* 设置自动曝光参考流。可选值：`depth`、`color`，默认值为 `depth`。
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> **支持模组**：Gemini 305 系列。
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> **兼容说明**：该参数替代旧参数 `ae_mode`，旧值 `depthbased/colorbased` 对应新值 `depth/color`。
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* **`ae_strategy`**
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* 设置自动曝光策略。可选值：`default`、`motion`，默认值为 `motion`。
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> **支持模组**：Gemini 305 系列。
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> **兼容说明**：该参数替代旧参数 `enable_sports_mode`。
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* **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`**
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* 设置下采样倍数。可用`ros2 run orbbec_camera list_camera_profile_mode_node`查看可设置分辨率。**默认值：** `1`
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> **支持模组**：Gemini 305。
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* **`enable_false_positive_filter`**
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* 启用鬼影滤波。可减少重影噪声。
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> **支持模组**：DaBaiA / DaBaiAL / Gemini 330 系列 / Gemini345 / Gemini345Lg。
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* **`enable_edge_noise_removal_filter`**
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* 启用 EdgeNoiseRemovalFilter，用于减少深度图边缘噪声。
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> **支持模组**：DaBai Max Pro。
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* **`enable_disp_outliers_filter`**
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* 启用 DispOutliersFilter，用于移除深度图中的视差离群点。
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> **支持模组**：DaBai Max Pro。
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* **`disp_outliers_filter_search_mode`**
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* 设置 DispOutliersFilter 的搜索模式。留空表示使用 SDK 默认值。可选值：`FULL`、`OFFSET_80`，大小写不敏感。
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> **支持模组**：DaBai Max Pro。
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### 视差
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* **`disparity_to_depth_mode`**
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* `HW`：使用硬件视差到深度转换。`SW`：使用软件视差到深度转换。也可以设置为 `disable` 关闭。
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@@ -267,6 +234,39 @@
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- **`intra_camera_sync_reference`**
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- 设置相机内同步的参考点。适用于Gemini 330系列设备，当 `sync_mode` 设置为**软件**或**硬件触发**模式时。**选项：** `Start`、`Middle`、`End`。设置为空时，长基线设备默认End，短基线设备默认Middle。
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## 设备特定参数
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* 启用gmsl触发输出信号 / 设置gmsl触发fps。用于 [gmsl相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
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* **`enable_ptp_config`**
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* 启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。
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> **支持模组**：Gemini 335Le。
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* **`preset_resolution_config`**
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* 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 留空禁用。
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> **支持模组**：Gemini 435Le。
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* **`ae_reference_stream`**
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* 设置自动曝光参考流。可选值：`depth`、`color`，默认值为 `depth`。
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> **支持模组**：Gemini 305 系列。
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> **兼容说明**：该参数替代旧参数 `ae_mode`，旧值 `depthbased/colorbased` 对应新值 `depth/color`。
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* **`ae_strategy`**
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* 设置自动曝光策略。可选值：`default`、`motion`，默认值为 `motion`。
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> **支持模组**：Gemini 305 系列。
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> **兼容说明**：该参数替代旧参数 `enable_sports_mode`。
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* **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`**
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* 设置下采样倍数。可用`ros2 run orbbec_camera list_camera_profile_mode_node`查看可设置分辨率。**默认值：** `1`
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> **支持模组**：Gemini 305。
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* **`enable_false_positive_filter`**
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* 启用鬼影滤波。可减少重影噪声。
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> **支持模组**：DaBaiA / DaBaiAL / Gemini 330 系列 / Gemini345 / Gemini345Lg。
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* **`enable_edge_noise_removal_filter`**
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* 启用 EdgeNoiseRemovalFilter，用于减少深度图边缘噪声。
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> **支持模组**：DaBai Max Pro。
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* **`enable_disp_outliers_filter`**
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* 启用 DispOutliersFilter，用于移除深度图中的视差离群点。
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> **支持模组**：DaBai Max Pro。
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* **`disp_outliers_filter_search_mode`**
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* 设置 DispOutliersFilter 的搜索模式。留空表示使用 SDK 默认值。可选值：`FULL`、`OFFSET_80`，大小写不敏感。
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> **支持模组**：DaBai Max Pro。
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## 基础与通用参数
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### 固件与后端
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