diff --git a/docs/source/3_quickstarts/orbbecviewer.md b/docs/source/3_quickstarts/orbbecviewer.md index 14c3f02d..3653d511 100644 --- a/docs/source/3_quickstarts/orbbecviewer.md +++ b/docs/source/3_quickstarts/orbbecviewer.md @@ -1,5 +1,7 @@ # OrbbecViewer QuickStarts +> **Note:** This ROS package aligns its parameters and functionality with **Orbbec Viewer**; for any questions regarding parameter usage or device model support, please refer to Orbbec Viewer. + ## Download **Repository link：**[OrbbecViewer Download](https://github.com/orbbec/OrbbecSDK_v2/releases) diff --git a/docs/source/4_application_guide/launch_parameters.md b/docs/source/4_application_guide/launch_parameters.md index e6b251a8..6fd2ed30 100644 --- a/docs/source/4_application_guide/launch_parameters.md +++ b/docs/source/4_application_guide/launch_parameters.md @@ -8,53 +8,29 @@ The following are the launch parameters available: * **`camera_name`** * Start the node namespace. - -* **`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`. - * **`serial_number`** * The serial number of the camera. This is required when multiple cameras are used. - * **`usb_port`** * 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. - * **`[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`** * Set stream image rotation. * The possible values are `0`, `90`, `180`, `270`. - * **`[color|depth|left_ir|right_ir|ir]_flip`** * Enable the stream image flip. - * **`[color|depth|left_ir|right_ir|ir]_mirror`** * Enable the stream image mirror. - * **`enable_point_cloud`** * Enable the point cloud. - * **`enable_colored_point_cloud`** * Enable the RGB point cloud. - * **`cloud_frame_id`** * Modify the `frame_id` name within the ros message. - * **`ordered_pc`** * Enable filtering of invalid point clouds. - -* **`align_mode`** - * The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment. - -* **`align_target_stream`** - * Set align target stream mode. - * The possible values are `COLOR`, `DEPTH`. - * `COLOR`: Align depth to color. - * `DEPTH`: Align color to depth. - * **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`** * ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively. @@ -78,16 +54,20 @@ The following are the launch parameters available: * **`color_brightness`**, **`color_sharpness`**, **`color_gamma`**, **`color_saturation`**, **`color_contrast`**, **`color_hue`** * Set the Color brightness, sharpness, gamma, saturation, contrast, and hue. * **`color_backlight_compensation`** - * Enables the color camera’s backlight compensation feature. Range: `0–6`, Default: `3`. + * Enables the color camera’s backlight compensation feature. **Range**: `0–6`, **Default**: `3`. * **`color_powerline_freq`** * Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`. * **`enable_color_decimation_filter`** / **`color_decimation_filter_scale`** * Enable the Color decimation filter and set its scale. * **`color_ae_roi_[left|right|top|bottom]`** * Set Color auto exposure ROI. +* **`color_denoising_level`** + * Enables the ISP denoising feature for Gemini 330 series devices. **Range:** `0–8`, **Default:** `0` (auto). + #### Depth Stream * **`enable_depth_auto_exposure_priority`** + * Enable the Depth auto exposure priority. * **`mean_intensity_set_point`** * Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`. @@ -150,6 +130,21 @@ The following are the launch parameters available: * 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). * **`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). +* **`force_ip_enable`** + * Enable the Force IP function. **Default:** `false` + +* **`force_ip_mac`** + * Target device MAC address when multiple cameras are connected (e.g., `"54:14:FD:06:07:DA"`). You can use the `list_devices_node` to find the MAC of each device. **Default:** `""` + +* **`force_ip_address`** + * Static IP address to assign when DHCP is disabled. **Default:** `192.168.1.10` + +* **`force_ip_subnet_mask`** + * Subnet mask for the static IP. **Default:** `255.255.255.0` + +* **`force_ip_gateway`** + * Gateway address for the static IP. **Default:** `192.168.1.1` + #### Disparity * **`disparity_to_depth_mode`** @@ -166,6 +161,20 @@ The following are the launch parameters available: * 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`. +- **`align_mode`** + * The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment. +- **`align_target_stream`** + * Set align target stream mode. + * The possible values are `COLOR`, `DEPTH`. + * `COLOR`: Align depth to color. + * `DEPTH`: Align color to depth. +- **`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`. **Default:** `Middle` + ### Basic & General Parameters #### Firmware & Backend @@ -196,6 +205,7 @@ The following are the launch parameters available: * **`time_domain`** * Select timestamp type: `device`, `global`, and `system`. * **`time_sync_period`** + * Interval (in seconds) for synchronizing the camera time with the host system. > **Note**: This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`**. * **`enable_ptp_config`**