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docs: update launch parameters documentation with new disparity and intra-camera synchronization details

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ob-yalian
2026-06-26 10:16:51 +08:00
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -201,7 +201,39 @@ The following are the launch parameters available:
* **`force_ip_gateway`**
* Gateway address for the static IP. **Default:** `192.168.1.1`
### Device-Specific
### Disparity
* **`disparity_to_depth_mode`**
* `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).
### Interleave AE Mode
* **`interleave_ae_mode`**
* Set `laser` or `hdr` interleave.
* **`interleave_frame_enable`**, **`interleave_skip_enable`**, **`interleave_skip_index`**
* Parameters to control interleave frame mode.
* **`[hdr|laser]_index[0|1]_[...]`**
* In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/configuration/interleave_ae_mode.md).*
### Intra-Camera Synchronization
- **`depth_registration`**
* 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.
- **`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`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
- **`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.
## Device-Specific Parameters
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* Enable the gmsl trigger out signal / set gmsl trigger fps.
> Only supports [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
@@ -235,37 +267,6 @@ The following are the launch parameters available:
* **`disp_outliers_filter_search_mode`**
* Set the DispOutliersFilter search mode. Leave it empty to keep the SDK default. Options: `FULL`, `OFFSET_80`. The value is case-insensitive.
> **Supported Modules**: DaBai Max Pro
### Disparity
* **`disparity_to_depth_mode`**
* `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).
### Interleave AE Mode
* **`interleave_ae_mode`**
* Set `laser` or `hdr` interleave.
* **`interleave_frame_enable`**, **`interleave_skip_enable`**, **`interleave_skip_index`**
* Parameters to control interleave frame mode.
* **`[hdr|laser]_index[0|1]_[...]`**
* In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/configuration/interleave_ae_mode.md).*
### Intra-Camera Synchronization
- **`depth_registration`**
* 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.
- **`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`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
- **`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.
## Basic & General Parameters