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docs: enhance launch parameters and services documentation with new filter options and color preset details

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ob-yalian
2026-06-26 10:11:47 +08:00
parent 0f73825d71
commit a178389fe7
8 changed files with 40 additions and 3 deletions
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+10 -1
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@@ -121,7 +121,7 @@ The following are the launch parameters available:
* **`color_powerline_freq`**
* Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`.
* **`color_preset`**
* Set the Color preset for Gemini 330 series devices. Options include `Default` and `Warm Biased AWB`.
* Set the Color preset by name. Supported on Gemini 330 series and Gemini 305 series devices. Common options include `Default`, `Warm Biased AWB`, and `Cold Biased AWB`; the exact list is reported by the device. The name comparison is case-insensitive.
* **`color_anti_flicker`**
* Enable Color anti-flicker. Supported by Gemini 330 series firmware `1.7.13` and above, and Gemini 305 series firmware `1.0.54` and above.
* **`enable_color_decimation_filter`** / **`color_decimation_filter_scale`**
@@ -226,6 +226,15 @@ The following are the launch parameters available:
* **`enable_false_positive_filter`**
* Enable this option to reduce ghosting noise.
> **Supported Modules**: DaBaiA / DaBaiAL / Gemini 330 series / Gemini345 / Gemini345Lg
* **`enable_edge_noise_removal_filter`**
* Enable EdgeNoiseRemovalFilter to reduce edge noise in depth frames.
> **Supported Modules**: DaBai Max Pro
* **`enable_disp_outliers_filter`**
* Enable DispOutliersFilter to remove disparity outliers in depth frames.
> **Supported Modules**: DaBai Max Pro
* **`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.
docs/en/source/camera_devices/4_application_guide/services.md
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@@ -247,10 +247,16 @@
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: []}'
# Set EdgeNoiseRemovalFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: EdgeNoiseRemovalFilter, 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'}]}"
# Set DispOutliersFilter. search_mode accepts FULL or OFFSET_80, case-insensitive.
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: DispOutliersFilter, filter_enable: true, filter_config: [{name: search_mode, value: 'FULL'}]}"
```
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.