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Update OrbbecViewer documentation: add note on parameter alignment and enhance download section

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obyalian
2025-10-14 16:46:13 +08:00
parent 0ef171abf7
commit c9c84e7c42
2 changed files with 37 additions and 25 deletions
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docs/source/4_application_guide/launch_parameters.md
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@@ -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`**