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Update OrbbecViewer documentation: add note on parameter alignment and enhance download section
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obyalian
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# OrbbecViewer QuickStarts
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> **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.
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## Download
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**Repository link：**[OrbbecViewer Download](https://github.com/orbbec/OrbbecSDK_v2/releases)
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@@ -8,53 +8,29 @@ The following are the launch parameters available:
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* **`camera_name`**
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* Start the node namespace.
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* **`depth_registration`**
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* Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`.
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* **`serial_number`**
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* The serial number of the camera. This is required when multiple cameras are used.
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* **`usb_port`**
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* The USB port of the camera. This is required when multiple cameras are used.
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* **`device_num`**
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* The number of devices. This must be filled in if multiple cameras are required.
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* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
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* The resolution and frame rate of the sensor stream.
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* **`[color|depth|left_ir|right_ir|ir]_rotation`**
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* Set stream image rotation.
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* The possible values are `0`, `90`, `180`, `270`.
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* **`[color|depth|left_ir|right_ir|ir]_flip`**
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* Enable the stream image flip.
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* **`[color|depth|left_ir|right_ir|ir]_mirror`**
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* Enable the stream image mirror.
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* **`enable_point_cloud`**
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* Enable the point cloud.
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* **`enable_colored_point_cloud`**
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* Enable the RGB point cloud.
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* **`cloud_frame_id`**
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* Modify the `frame_id` name within the ros message.
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* **`ordered_pc`**
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* Enable filtering of invalid point clouds.
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* **`align_mode`**
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* The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
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* **`align_target_stream`**
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* Set align target stream mode.
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* The possible values are `COLOR`, `DEPTH`.
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* `COLOR`: Align depth to color.
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* `DEPTH`: Align color to depth.
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* **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`**
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* 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.
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@@ -78,16 +54,20 @@ The following are the launch parameters available:
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* **`color_brightness`**, **`color_sharpness`**, **`color_gamma`**, **`color_saturation`**, **`color_contrast`**, **`color_hue`**
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* Set the Color brightness, sharpness, gamma, saturation, contrast, and hue.
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* **`color_backlight_compensation`**
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* Enables the color camera’s backlight compensation feature. Range: `0–6`, Default: `3`.
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* Enables the color camera’s backlight compensation feature. **Range**: `0–6`, **Default**: `3`.
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* **`color_powerline_freq`**
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* Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`.
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* **`enable_color_decimation_filter`** / **`color_decimation_filter_scale`**
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* Enable the Color decimation filter and set its scale.
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* **`color_ae_roi_[left|right|top|bottom]`**
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* Set Color auto exposure ROI.
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* **`color_denoising_level`**
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* Enables the ISP denoising feature for Gemini 330 series devices. **Range:** `0–8`, **Default:** `0` (auto).
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#### Depth Stream
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* **`enable_depth_auto_exposure_priority`**
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* Enable the Depth auto exposure priority.
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* **`mean_intensity_set_point`**
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* Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
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@@ -150,6 +130,21 @@ The following are the launch parameters available:
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* 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).
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
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* **`force_ip_enable`**
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* Enable the Force IP function. **Default:** `false`
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* **`force_ip_mac`**
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* 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:** `""`
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* **`force_ip_address`**
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* Static IP address to assign when DHCP is disabled. **Default:** `192.168.1.10`
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* **`force_ip_subnet_mask`**
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* Subnet mask for the static IP. **Default:** `255.255.255.0`
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* **`force_ip_gateway`**
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* Gateway address for the static IP. **Default:** `192.168.1.1`
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#### Disparity
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* **`disparity_to_depth_mode`**
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@@ -166,6 +161,20 @@ The following are the launch parameters available:
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* In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
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* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/configuration/interleave_ae_mode.md).*
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#### Intra-Camera Synchronization
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- **`depth_registration`**
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* Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`.
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- **`align_mode`**
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* The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
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- **`align_target_stream`**
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* Set align target stream mode.
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* The possible values are `COLOR`, `DEPTH`.
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* `COLOR`: Align depth to color.
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* `DEPTH`: Align color to depth.
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- **`intra_camera_sync_reference`**
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- 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`
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### Basic & General Parameters
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#### Firmware & Backend
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@@ -196,6 +205,7 @@ The following are the launch parameters available:
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* **`time_domain`**
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* Select timestamp type: `device`, `global`, and `system`.
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* **`time_sync_period`**
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* Interval (in seconds) for synchronizing the camera time with the host system.
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> **Note**: This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`**.
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* **`enable_ptp_config`**
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