From c8e2338db7e392bac9ce8a8eecf194c47035dcd9 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Mon, 21 Sep 2026 17:47:49 +0800 Subject: [PATCH] docs: document Gemini 301 AE parameters --- .../camera_devices/4_application_guide/launch_parameters.md | 2 ++ .../camera_devices/4_application_guide/launch_parameters.md | 2 ++ 2 files changed, 4 insertions(+) diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md index a42dc362..22774f9a 100644 --- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md @@ -69,6 +69,8 @@ The following are the launch parameters available: * Enable or disable the corresponding image stream. > **Gemini 301 series limitation:** All enabled image streams with an FPS greater than `0` must use the same FPS. The node validates this requirement at startup and when profiles are switched at runtime through `/camera/set_stream_profile`. +> +> **Gemini 301 series AE controls:** Use `enable_ir_auto_exposure`, `ir_exposure`, `ir_gain`, and `ir_ae_max_exposure`. The launch file no longer declares `enable_auto_exposure` or the color-specific AE/exposure/gain arguments. When migrating YAML, multiply color exposure/max-exposure values by `100`; IR units are unchanged. * **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`** * Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`. diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md index e268d0ff..0c5d4622 100644 --- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md @@ -69,6 +69,8 @@ * 启用或关闭对应图像流。 > **Gemini 301 系列限制：** 启用且 FPS 大于 `0` 的所有图像流必须使用相同的 FPS。节点启动和通过 `/camera/set_stream_profile` 运行时切换 profile 时都会校验此限制。 +> +> **Gemini 301 系列 AE 参数：** 使用 `enable_ir_auto_exposure`、`ir_exposure`、`ir_gain` 和 `ir_ae_max_exposure`。启动文件不再声明 `enable_auto_exposure` 及彩色流专用的自动曝光/曝光/增益参数。迁移 YAML 时，彩色曝光和最大曝光值需要乘以 `100`；IR 参数单位不变。 * **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`** * 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`。