From ccf1e88164d0b4c7150acfa16cf102b61a8e9a58 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Mon, 8 Jun 2026 11:13:44 +0800 Subject: [PATCH] docs: enhance launch parameters documentation with detailed usage examples and references --- .../4_application_guide/launch_parameters.md | 89 ++++++++++++------ .../4_application_guide/launch_parameters.md | 90 +++++++++++++------ 2 files changed, 122 insertions(+), 57 deletions(-) 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 a9a9de63..3ae325fe 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 @@ -1,6 +1,38 @@ # Launch parameters -> If you are not sure how to set the parameters, you can connect the orbbec camera and open the [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases). +> If you are not sure how to set the parameters, connect the Orbbec camera and open [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases), or refer to the [camera datasheet](../1_overview/introduction.md) in Chapter 1. + +## How to modify launch parameters + +Launch parameters can be modified in two ways: + +1. **Override parameters in the launch command** + + This is recommended for debugging, testing a parameter, or applying a setting only for the current launch. Use the format `parameter_name:=parameter_value`. You can append multiple parameters to the same command. + + ```bash + ros2 launch orbbec_camera gemini_330_series.launch.py camera_name:=camera_02 + ``` + + Example: change the camera name and enable point cloud output at the same time. + + ```bash + ros2 launch orbbec_camera gemini_330_series.launch.py camera_name:=camera_02 enable_point_cloud:=true + ``` + +2. **Modify the default value in a launch file** + + This is useful when you want a setting to become a long-term default, such as a fixed resolution, frame rate, camera name, or synchronization mode. Device launch files are located in [orbbec_camera/launch](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch). Choose the `*.launch.py` file that matches your camera model. + + If you build from source and do not use `--symlink-install`, you usually need to rebuild the workspace and source it again after modifying a launch file: + + ```bash + cd ~/ros2_ws + colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release + source install/setup.bash + ``` + + If you use `--symlink-install`, restarting the launch file is usually enough. If you installed with apt/deb, it is not recommended to edit files in the system installation directory directly. Prefer command-line parameter overrides, or copy the launch file and maintain your own launch configuration. The following are the launch parameters available: @@ -9,18 +41,20 @@ The following are the launch parameters available: * **`camera_name`** * Start the node namespace. * **`serial_number`** - * The serial number of the camera. This is required when multiple cameras are used. + * The serial number of the camera. This is required when multiple cameras are used. See [multi camera](../5_advanced_guide/multi_camera/multi_camera.md) for multi-camera startup. * **`usb_port`** - * The USB port of the camera. This is required when multiple cameras are used. + * The USB port of the camera. This is required when multiple cameras are used. See [multi camera](../5_advanced_guide/multi_camera/multi_camera.md) for multi-camera startup. * **`device_num`** - * The number of devices. This must be filled in if multiple cameras are required. + * The number of devices. This must be filled in if multiple cameras are required. See [multi camera](../5_advanced_guide/multi_camera/multi_camera.md) for multi-camera startup. * **`device_preset`** - * The default value is determined by the launch file. You can use the following command to view the configurable modes; the tool also prints the preset list and preset version information. + * The default value is determined by the launch file. See [predefined presets](../5_advanced_guide/configuration/predefined_presets.md) for available presets and recommended scenarios. You can use the following command to view the configurable modes; the tool also prints the preset list and preset version information. ```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. + * For Femto Mega / Femto Bolt, depth NFOV and WFOV modes are configured by combining depth and IR resolutions. See [Configuration of depth NFOV and WFOV modes](../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md). + * For lower CPU usage, see the `color_format` recommendations in [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md). * **`[color|depth|left_ir|right_ir|ir]_rotation`** * Set stream image rotation. * The possible values are `0`, `90`, `180`, `270`. @@ -29,9 +63,9 @@ The following are the launch parameters available: * **`[color|depth|left_ir|right_ir|ir]_mirror`** * Enable the stream image mirror. * **`enable_point_cloud`** - * Enable the point cloud. + * Enable the point cloud. See [Point Cloud](point_cloud.md) for usage and RViz2 visualization. * **`enable_colored_point_cloud`** - * Enable the RGB point cloud. + * Enable the RGB point cloud. See [Point Cloud](point_cloud.md) for usage and RViz2 visualization. * **`cloud_frame_id`** * Modify the `frame_id` name within the ros message. * **`ordered_pc`** @@ -39,13 +73,13 @@ The following are the launch parameters available: * **`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. * **`color.image_raw.enable_pub_plugins`** - * Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. + * Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images. * **`depth.image_raw.enable_pub_plugins`** - * Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`. + * Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images. * **`left_ir.image_raw.enable_pub_plugins`** - * Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. + * Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images. * **`right_ir.image_raw.enable_pub_plugins`** - * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. + * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images. * **`point_cloud_decimation_filter_factor`** * Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling. @@ -96,6 +130,8 @@ The following are the launch parameters available: * 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_work_mode`** + * Set the depth work mode. See [Depth Work Mode Switch](../5_advanced_guide/configuration/depth_work_mode_switch.md) for supported devices, mode query commands, and launch examples. * **`depth_ae_roi_[left|right|top|bottom]`** * Set Depth auto exposure ROI. @@ -120,7 +156,7 @@ The following are the launch parameters available: #### Multi-Camera Synchronization * **`sync_mode`** - * Set sync mode. The default value is `standalone`. + * Set sync mode. The default value is `standalone`. See [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md) for multi-camera connection, synchronization modes, and trigger configuration. * **`depth_delay_us`** / **`color_delay_us`** * The delay time (microseconds) of the depth/color image capture after receiving the capture command or trigger signal. * **`trigger2image_delay_us`** @@ -134,13 +170,11 @@ The following are the launch parameters available: * **`frames_per_trigger`** * The frame number of each stream after each trigger in triggering mode. -> Used for [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md). - #### Network Cameras * **`enumerate_net_device`** - * Enable automatically enumerate network devices. + * Enable automatically enumerate network devices. See [net camera](../5_advanced_guide/configuration/net_camera.md) for network camera startup, specified IP startup, and Force IP configuration. * **`net_device_ip`** / **`net_device_port`** - * Set net device's IP address and port (Usually `8090`). + * Set net device's IP address and port (usually `8090`). See [net camera](../5_advanced_guide/configuration/net_camera.md) for network camera startup, specified IP startup, and Force IP configuration. * **`force_ip_enable`** * Enable the Force IP function. **Default:** `false` * **`force_ip_mac`** @@ -151,7 +185,6 @@ The following are the launch parameters available: * 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` -> Used for [net camera](../5_advanced_guide/configuration/net_camera.md). #### Device-Specific * **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`** @@ -197,7 +230,7 @@ The following are the launch parameters available: #### 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`. + * Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples. - **`align_mode`** * The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment. * This parameter is case-insensitive. Invalid values are reported and replaced with the default value. @@ -206,7 +239,7 @@ The following are the launch parameters available: * The possible values are `COLOR`, `DEPTH`. * `COLOR`: Align depth to color. * `DEPTH`: Align color to depth. - * This parameter is case-insensitive. Hardware D2C only supports `COLOR` as the target stream; use `align_mode:=SW` if you need to align to `DEPTH`. + * This parameter is case-insensitive. Hardware D2C only supports `COLOR` as the target stream; use `align_mode:=SW` if you need to align to `DEPTH`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples. - **`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`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle. @@ -214,11 +247,11 @@ The following are the launch parameters available: #### Firmware & Backend * **`upgrade_firmware`** - * The input parameter is the firmware path. For new versions, use the standalone `firmware_update_tool` for firmware updates. + * The input parameter is the firmware path. For new versions, use the standalone `firmware_update_tool` for firmware updates. See [firmware_update_tool](../5_advanced_guide/configuration/firmware_update_tool.md). * **`preset_firmware_path`** - * The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input. + * The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input. For new versions, use the standalone tool to burn presets. See [firmware_update_tool](../5_advanced_guide/configuration/firmware_update_tool.md). * **`uvc_backend`** - * Optional values: `v4l2`, `libuvc`. + * Optional values: `v4l2`, `libuvc`. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU scenarios. * **`connection_delay`** * The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging. * **`retry_on_usb3_detection_failure`** @@ -226,7 +259,7 @@ The following are the launch parameters available: #### TF, Extrinsics & Calibration * **`publish_tf`** / **`tf_publish_rate`** - * Enable the TF publish and set its publication rate. + * Enable the TF publish and set its publication rate. See [Coordinate Systems and TF Transforms](coordinate_and_tf.md) for coordinate systems, TF tree inspection, and visualization. * **`enable_publish_extrinsic`** * Enable the extrinsics publish. * **`ir_info_url`** / **`color_info_url`** @@ -268,7 +301,7 @@ The following are the launch parameters available: #### Miscellaneous * **`config_file_path`** - * The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used. + * The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used. Some presets or special modes are configured through YAML. See [predefined presets](../5_advanced_guide/configuration/predefined_presets.md). * **`load_config_json_file_path`** * SDK JSON configuration import path. When set, the node imports the JSON configuration during initialization. For Gemini 330 series, use `gemini_330_series_sdk_json.launch.py` as the dedicated SDK JSON launch file. * **`export_config_json_file_path`** @@ -277,7 +310,7 @@ The following are the launch parameters available: * Set frame aggregate output mode. Optional values: `full_frame`, `color_frame`, `ANY`, `disable`. * This parameter is case-insensitive. Invalid values are reported and replaced with the default value. * **`enable_d2c_viewer`** - * Publishes the D2C overlay image (for testing only). + * Publishes the D2C overlay image (for testing only). See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for examples. ### IMU @@ -305,11 +338,11 @@ The following are the launch parameters available: * **`enable_threshold_filter`** * Enable the Depth threshold filter. Set with `threshold_filter_max`, `threshold_filter_min`. * **`enable_hardware_noise_removal_filter`** - * Enable the Depth hardware noise removal filter. + * Enable the Depth hardware noise removal filter. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations. * **`enable_noise_removal_filter`** - * Enable the Depth software noise removal filter. Set with `noise_removal_filter_min_diff`, etc. + * Enable the Depth software noise removal filter. Set with `noise_removal_filter_min_diff`, etc. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations. * **`enable_spatial_filter`** - * Enable the Depth spatial filter. Set with `spatial_filter_alpha`, etc. + * Enable the Depth spatial filter. Set with `spatial_filter_alpha`, etc. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations. * **`enable_temporal_filter`** * Enable the Depth temporal filter. Set with `temporal_filter_diff_threshold`, etc. * **`enable_hole_filling_filter`** 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 35858780..ae6bfdb1 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 @@ -1,6 +1,38 @@ # 启动参数 -> 如果您不确定如何设置参数，可以连接orbbec相机并打开 [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases)。 +> 如果您不确定如何设置参数，可以连接 Orbbec 相机并打开 [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases)，也可以查看第 1 章中的 [设备规格书](../1_overview/introduction.md)。 + +## 如何修改启动参数 + +启动参数可以通过两种方式修改： + +1. **在启动命令中临时覆盖参数** + + 适合调试、验证某个参数或只在本次启动中生效的场景。格式为 `参数名:=参数值`，可以在同一条命令中追加多个参数。 + + ```bash + ros2 launch orbbec_camera gemini_330_series.launch.py camera_name:=camera_02 + ``` + + 示例：同时修改相机名称并启用点云。 + + ```bash + ros2 launch orbbec_camera gemini_330_series.launch.py camera_name:=camera_02 enable_point_cloud:=true + ``` + +2. **在 launch 文件中修改默认值** + + 适合将参数作为长期默认配置使用，例如团队固定使用某个分辨率、帧率、相机名称或同步模式。各设备的 launch 文件位于 [orbbec_camera/launch](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch)，请选择与设备型号对应的 `*.launch.py` 文件。 + + 如果您是从源码构建并且没有使用 `--symlink-install`，修改 launch 文件后通常需要回到工作空间重新编译并重新 source： + + ```bash + cd ~/ros2_ws + colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release + source install/setup.bash + ``` + + 如果使用 `--symlink-install`，通常重新启动 launch 即可生效。若使用 apt/deb 安装，不建议直接修改系统安装目录中的 launch 文件；建议优先使用命令行覆盖参数，或复制 launch 文件后维护自己的启动配置。 以下是可用的启动参数： @@ -9,18 +41,20 @@ * **`camera_name`** * 启动节点的命名空间。 * **`serial_number`** - * 相机的序列号。当使用多个相机时需要此参数。 + * 相机的序列号。当使用多个相机时需要此参数。多相机启动方式参考 [多相机](../5_advanced_guide/multi_camera/multi_camera.md)。 * **`usb_port`** - * 相机的USB端口。当使用多个相机时需要此参数。 + * 相机的USB端口。当使用多个相机时需要此参数。多相机启动方式参考 [多相机](../5_advanced_guide/multi_camera/multi_camera.md)。 * **`device_num`** - * 设备数量。如果需要多个相机，必须填写此参数。 + * 设备数量。如果需要多个相机，必须填写此参数。多相机启动方式参考 [多相机](../5_advanced_guide/multi_camera/multi_camera.md)。 * **`device_preset`** - * 默认值由启动文件决定。可以使用下面命令查看可设置模式；该工具会同时打印 preset 列表和 preset 版本信息。 + * 默认值由启动文件决定。可选 preset 和推荐场景请参考 [设备预设](../5_advanced_guide/configuration/predefined_presets.md)。可以使用下面命令查看可设置模式；该工具会同时打印 preset 列表和 preset 版本信息。 ```bash ros2 run orbbec_camera list_camera_profile_mode_node ``` * **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`** * 传感器流的分辨率和帧率。 + * Femto Mega / Femto Bolt 的深度 NFOV、WFOV 模式通过深度和 IR 分辨率组合配置，参考 [深度 NFOV 和 WFOV 模式配置](../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md)。 + * 如需降低 CPU 使用率，可参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md) 中的 `color_format` 建议。 * **`[color|depth|left_ir|right_ir|ir]_rotation`** * 设置流图像旋转。 * 可能的值为 `0`、`90`、`180`、`270`。 @@ -29,9 +63,9 @@ * **`[color|depth|left_ir|right_ir|ir]_mirror`** * 启用流图像镜像。 * **`enable_point_cloud`** - * 启用点云。 + * 启用点云。使用和 RViz2 可视化方法参考 [点云](point_cloud.md)。 * **`enable_colored_point_cloud`** - * 启用RGB点云。 + * 启用RGB点云。使用和 RViz2 可视化方法参考 [点云](point_cloud.md)。 * **`cloud_frame_id`** * 修改ros消息中的 `frame_id` 名称。 * **`ordered_pc`** @@ -39,13 +73,13 @@ * **`point_cloud_qos`、`[stream]_qos`、`[stream]_camera_info_qos`** * ROS 2消息服务质量（QoS）设置。可能的值为 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`、`SENSOR_DATA`，不区分大小写。这些分别对应 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters` 和 `SENSOR_DATA`。 * **`color.image_raw.enable_pub_plugins`** - * 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 + * 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。 * **`depth.image_raw.enable_pub_plugins`** - * 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。 + * 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。 * **`left_ir.image_raw.enable_pub_plugins`** - * 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 + * 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。 * **`right_ir.image_raw.enable_pub_plugins`** - * 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 + * 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。 * **`point_cloud_decimation_filter_factor`** * 点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样倍数越大。 @@ -96,6 +130,8 @@ * 设置D2C后是否启用深度缩放。`true`表示启用，默认为`true`。 * **`depth_precision`** * 深度精度应为 `1mm` 格式。默认值为 `1mm`。 +* **`depth_work_mode`** + * 设置深度工作模式。支持的设备、模式列表查看命令和启动示例参考 [深度工作模式切换](../5_advanced_guide/configuration/depth_work_mode_switch.md)。 * **`depth_ae_roi_[left|right|top|bottom]`** * 设置深度自动曝光ROI。 @@ -121,7 +157,7 @@ #### 多相机同步 * **`sync_mode`** - * 设置同步模式。默认值为 `standalone`。 + * 设置同步模式。默认值为 `standalone`。多相机连接、同步模式和触发配置参考 [多相机同步](../5_advanced_guide/multi_camera/multi_camera_synced.md)。 * **`depth_delay_us`** / **`color_delay_us`** * 接收捕获命令或触发信号后深度/彩色图像捕获的延迟时间（微秒）。 * **`trigger2image_delay_us`** @@ -135,13 +171,11 @@ * **`frames_per_trigger`** * 触发模式下每次触发后每个流的帧数。 -> 用于 [多相机同步](../5_advanced_guide/multi_camera/multi_camera_synced.md)。 - #### 网络相机 * **`enumerate_net_device`** - * 启用自动枚举网络设备。 + * 启用自动枚举网络设备。网络相机启动、指定 IP 和 Force IP 配置参考 [网络相机](../5_advanced_guide/configuration/net_camera.md)。 * **`net_device_ip`** / **`net_device_port`** - * 设置网络设备的IP地址和端口（通常为 `8090`）。 + * 设置网络设备的IP地址和端口（通常为 `8090`）。网络相机启动、指定 IP 和 Force IP 配置参考 [网络相机](../5_advanced_guide/configuration/net_camera.md)。 * **`force_ip_enable`** * 启用强制IP功能。**默认值：** `false` * **`force_ip_mac`** @@ -153,8 +187,6 @@ * **`force_ip_gateway`** * 静态IP的网关地址。**默认值：** `192.168.1.1` -> 用于 [网络相机](../5_advanced_guide/configuration/net_camera.md)。 - #### 设备特定 * **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`** * 启用gmsl触发输出信号 / 设置gmsl触发fps。用于 [gmsl相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。 @@ -198,7 +230,7 @@ #### 相机内同步 - **`depth_registration`** - * 启用深度帧与彩色帧的对齐。当 `enable_colored_point_cloud` 设置为 `true` 时需要此字段。 + * 启用深度帧与彩色帧的对齐。当 `enable_colored_point_cloud` 设置为 `true` 时需要此字段。启动和查看方法参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。 - **`align_mode`** * 要使用的对齐模式。选项为 `HW`（硬件对齐）和 `SW`（软件对齐）。 * 该参数大小写不敏感；非法值会报错并回退默认值。 @@ -207,7 +239,7 @@ * 可能的值为 `COLOR`、`DEPTH`。 * `COLOR`：将深度对齐到彩色。 * `DEPTH`：将彩色对齐到深度。 - * 该参数大小写不敏感。硬件 D2C 仅支持 `COLOR` 作为对齐目标；如需对齐到 `DEPTH`，请使用 `align_mode:=SW`。 + * 该参数大小写不敏感。硬件 D2C 仅支持 `COLOR` 作为对齐目标；如需对齐到 `DEPTH`，请使用 `align_mode:=SW`。启动和查看方法参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。 - **`intra_camera_sync_reference`** - 设置相机内同步的参考点。适用于Gemini 330系列设备，当 `sync_mode` 设置为**软件**或**硬件触发**模式时。**选项：** `Start`、`Middle`、`End`。设置为空时，长基线设备默认End，短基线设备默认Middle。 @@ -215,11 +247,11 @@ #### 固件与后端 * **`upgrade_firmware`** - * 输入参数为固件路径。新版本建议使用独立工具 `firmware_update_tool` 进行固件升级。 + * 输入参数为固件路径。新版本建议使用独立工具 `firmware_update_tool` 进行固件升级，参考 [firmware_update_tool 工具](../5_advanced_guide/configuration/firmware_update_tool.md)。 * **`preset_firmware_path`** - * 输入参数为预设固件路径。如果输入多个路径，每个路径需要用 `,` 分隔，最多可输入3个固件路径。 + * 输入参数为预设固件路径。如果输入多个路径，每个路径需要用 `,` 分隔，最多可输入3个固件路径。新版本建议使用独立工具烧录 preset，参考 [firmware_update_tool 工具](../5_advanced_guide/configuration/firmware_update_tool.md)。 * **`uvc_backend`** - * 可选值：`v4l2`、`libuvc`。 + * 可选值：`v4l2`、`libuvc`。低 CPU 场景建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。 * **`connection_delay`** * 重新打开设备的延迟时间（毫秒）。某些设备（如Astra mini）需要较长时间初始化，热插拔时立即重新打开设备可能导致固件崩溃。 * **`retry_on_usb3_detection_failure`** @@ -227,7 +259,7 @@ #### TF、外参与校准 * **`publish_tf`** / **`tf_publish_rate`** - * 启用TF发布并设置其发布速率。 + * 启用TF发布并设置其发布速率。坐标系、TF 树查看和可视化方法参考 [坐标系和 TF 变换](coordinate_and_tf.md)。 * **`enable_publish_extrinsic`** * 启用外参发布。 * **`ir_info_url`** / **`color_info_url`** @@ -268,7 +300,7 @@ #### 其他 * **`config_file_path`** - * YAML配置文件的路径。默认为 `""`。如果未指定，将使用启动文件中的默认参数。 + * YAML配置文件的路径。默认为 `""`。如果未指定，将使用启动文件中的默认参数。部分 preset 或特殊模式会通过 YAML 配置，示例参考 [设备预设](../5_advanced_guide/configuration/predefined_presets.md)。 * **`load_config_json_file_path`** * SDK JSON 配置导入路径。设置后节点会在初始化时调用 SDK 导入 JSON 配置。Gemini 330 系列可使用 `gemini_330_series_sdk_json.launch.py` 作为专用启动文件。 * **`export_config_json_file_path`** @@ -277,7 +309,7 @@ * 设置帧聚合输出模式。可选值：`full_frame`、`color_frame`、`ANY`、`disable`。 * 该参数大小写不敏感；非法值会报错并回退默认值。 * **`enable_d2c_viewer`** - * 发布D2C叠加图像（仅用于测试）。 + * 发布D2C叠加图像（仅用于测试）。使用示例参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。 ### IMU @@ -305,11 +337,11 @@ * **`enable_threshold_filter`** * 启用深度阈值滤波器。使用 `threshold_filter_max`、`threshold_filter_min` 设置。 * **`enable_hardware_noise_removal_filter`** - * 启用深度硬件降噪滤波器。 + * 启用深度硬件降噪滤波器。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。 * **`enable_noise_removal_filter`** - * 启用深度软件降噪滤波器。使用 `noise_removal_filter_min_diff` 等设置。 + * 启用深度软件降噪滤波器。使用 `noise_removal_filter_min_diff` 等设置。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。 * **`enable_spatial_filter`** - * 启用深度空间滤波器。使用 `spatial_filter_alpha` 等设置。 + * 启用深度空间滤波器。使用 `spatial_filter_alpha` 等设置。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。 * **`enable_temporal_filter`** * 启用深度时间滤波器。使用 `temporal_filter_diff_threshold` 等设置。 * **`enable_hole_filling_filter`**