From a1962b96a8de1f79fabe8aa69eaa08e410b3b7aa Mon Sep 17 00:00:00 2001 From: jj <957713278@qq.com> Date: Wed, 30 Apr 2025 16:56:23 +0800 Subject: [PATCH] Update launch_parameters.md --- docs/launch_parameters.md | 36 ++++++++++++++++++------------------ 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/docs/launch_parameters.md b/docs/launch_parameters.md index 3490b3d3..67f3f74a 100644 --- a/docs/launch_parameters.md +++ b/docs/launch_parameters.md @@ -64,14 +64,14 @@ The following are the launch parameters available: * `enable_hardware_d2d` : false: switch to software disparity convert to depth, true: switch to hardware disparity convert to depth * `enable_ldp` : Enables the LDP * `ldp_power_level` : Set power level of the LDP -* `sync_mode` : Set sync mode.The default value is standalone,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD) -* `depth_delay_us` : The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD) -* `color_delay_us` : The delay time of the color image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD) -* `trigger2image_delay_us` : The delay time of the image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD) -* `trigger_out_delay_us` : The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD) -* `trigger_out_enabled` : Enables the trigger out signal,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD) -* `frames_per_trigger` : The frame number of each stream after each trigger in triggering mode,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD) -* `software_trigger_period` : software trigger period in ms,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD) +* `sync_mode` : Set sync mode.The default value is standalone,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) +* `depth_delay_us` : The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) +* `color_delay_us` : The delay time of the color image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) +* `trigger2image_delay_us` : The delay time of the image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) +* `trigger_out_delay_us` : The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) +* `trigger_out_enabled` : Enables the trigger out signal,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) +* `frames_per_trigger` : The frame number of each stream after each trigger in triggering mode,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) +* `software_trigger_period` : software trigger period in ms,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) * `enable_frame_sync` : Enables the frame synchronization * `ordered_pc` : Enable filtering of invalid point clouds * `enable_depth_scale` : Enables the depth scale @@ -96,17 +96,17 @@ The following are the launch parameters available: * `enable_color_undistortion` : Enables the Color undistortion * `config_file_path` : The path to the YAML configuration file. The default value is `""`. If the configuration file is not specified,the default parameters from the launch file will be used. If you want to use a custom configuration file, please refer to `gemini_330_series.launch.py`.`enable_heartbeat` enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to the firmware, and if hardware logging is desired, it should also be set to `true` * `enable_heartbeat` : Enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to the firmware, and if hardware logging is desired, it should also be set to `true` -* `gmsl_trigger_fps` : Set gmsl trigger fps,this parameter is usually used [gmsl camera](./orbbec_camera/examples/gmsl_camera/README.MD) -* `enable_gmsl_trigger` : Enables the gmsl trigger out signal,this parameter is usually used [gmsl camera](./orbbec_camera/examples/gmsl_camera/README.MD) -* `disparity_range_mode` : Disparity search length,this parameter is usually used [disparity search offset](./orbbec_camera/examples/disparity_search_offset/README.MD) -* `disparity_search_offset` : Set Disparity search offset value,this parameter is usually used [disparity search offset](./orbbec_camera/examples/disparity_search_offset/README.MD) -* `disparity_offset_config` : Disparity search offset interleave frames,this parameter is usually used [disparity search offset](./orbbec_camera/examples/disparity_search_offset/README.MD) +* `gmsl_trigger_fps` : Set gmsl trigger fps,this parameter is usually used [gmsl camera](../orbbec_camera/examples/gmsl_camera/README.MD) +* `enable_gmsl_trigger` : Enables the gmsl trigger out signal,this parameter is usually used [gmsl camera](../orbbec_camera/examples/gmsl_camera/README.MD) +* `disparity_range_mode` : Disparity search length,this parameter is usually used [disparity search offset](../orbbec_camera/examples/disparity_search_offset/README.MD) +* `disparity_search_offset` : Set Disparity search offset value,this parameter is usually used [disparity search offset](../orbbec_camera/examples/disparity_search_offset/README.MD) +* `disparity_offset_config` : Disparity search offset interleave frames,this parameter is usually used [disparity search offset](../orbbec_camera/examples/disparity_search_offset/README.MD) * `frame_aggregate_mode` : Set frame aggregate output mode.The optional values are `full_frame`,`color_frame`,`ANY`,`disable` -* `interleave_ae_mode` : Set laser or hdr interleave,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD) -* `interleave_frame_enable` : Whether to enable interleave frame mode,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD) -* `interleave_skip_enable` : Whether to enable skip frames,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD) -* `interleave_skip_index` : Set skip pattern IR or flood IR,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD) -* `[hdr|laser]_index[0|1]_[laser_control|depth_exposure|depth_gain|ir_brightness|ae_max_exposure]`:In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD) +* `interleave_ae_mode` : Set laser or hdr interleave,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD) +* `interleave_frame_enable` : Whether to enable interleave frame mode,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD) +* `interleave_skip_enable` : Whether to enable skip frames,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD) +* `interleave_skip_index` : Set skip pattern IR or flood IR,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD) +* `[hdr|laser]_index[0|1]_[laser_control|depth_exposure|depth_gain|ir_brightness|ae_max_exposure]`:In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames,this parameter is usually used [interleave ae mode](../orbbec_camera/examples/interleave_ae_mode/README.MD) **IMPORTANT**: *Please carefully read the instructions regarding software filtering settings at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify