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update launch parameters document

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ob-yalian
2026-01-07 14:52:04 +08:00
parent 26fcc16551
commit af67d4599f
2 changed files with 16 additions and 11 deletions
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+8 -5
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@@ -14,6 +14,11 @@ The following are the launch parameters available:
* The USB port of the camera. This is required when multiple cameras are used.
* **`device_num`**
* The number of devices. This must be filled in if multiple cameras are required.
* **`device_preset`**
* The default value is `Default`. You can use the following command to view the configurable mode
```bash
ros2 run orbbec_camera list_camera_profile_mode_node
```
* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
* The resolution and frame rate of the sensor stream.
* **`[color|depth|left_ir|right_ir|ir]_rotation`**
@@ -43,8 +48,6 @@ The following are the launch parameters available:
* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
* **`point_cloud_decimation_filter_factor`**
* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
* **`preset_resolution_config`**
* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on specific devices like Gemini2. Leave empty to disable.
### Sensor Controls
@@ -85,7 +88,7 @@ The following are the launch parameters available:
* Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
* **`enable_depth_scale`**
* Enable the depth scale.
* Whether to enable depth scaling after setting D2C. `true` means enabled, the default is `true`.
* **`depth_precision`**
* The depth precision should be in the format `1mm`. The default value is `1mm`.
* **`depth_ae_roi_[left|right|top|bottom]`**
@@ -152,8 +155,8 @@ The following are the launch parameters available:
> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
#### Device-Specific
* **`device_preset`**
* The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/configuration/predefined_presets.md).
* **`preset_resolution_config`**
* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on 435Le. Leave empty to disable.
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).