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 2e489ff0..f73f4f7a 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 @@ -42,7 +42,7 @@ Launch parameters can be modified in two ways: The following are the launch parameters available: -### Core & Stream Configuration +## Core & Stream Configuration * **`camera_name`** * Start the node namespace. @@ -89,9 +89,9 @@ The following are the launch parameters available: * **`point_cloud_decimation_filter_factor`** * Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling. -### Sensor Controls +## Sensor Controls -#### Color Stream +### Color Stream * **`enable_color_auto_exposure`** * Enable the Color auto exposure. * **`enable_color_auto_exposure_priority`** @@ -126,7 +126,7 @@ The following are the launch parameters available: * Enable ISP Color denoising. **Range:** `0–8`; `0` means auto. Supported by Gemini 330 series, Gemini 2 firmware `1.5.04` and above, and Gemini 2L firmware `1.5.09` and above. This feature requires Color auto exposure and new firmware support. -#### Depth Stream +### Depth Stream * **`enable_depth_auto_exposure_priority`** * Enable the Depth auto exposure priority. * **`mean_intensity_set_point`** @@ -141,7 +141,7 @@ The following are the launch parameters available: * **`depth_ae_roi_[left|right|top|bottom]`** * Set Depth auto exposure ROI. -#### IR Stream +### IR Stream * **`enable_ir_auto_exposure`** * Enable the IR auto exposure. * **`ir_exposure`** / **`ir_gain`** @@ -150,7 +150,7 @@ The following are the launch parameters available: * Set the maximum exposure value for IR auto exposure. * **`ir_brightness`** * Set the target average intensity of the ir image when auto-exposure is turned on. -#### Laser / LDP +### Laser / LDP * **`enable_laser`** * Enable the laser. The default value is `true`. * **`laser_energy_level`** @@ -158,9 +158,9 @@ The following are the launch parameters available: * **`enable_ldp`** / **`ldp_power_level`** * Enable the LDP and set its power level. -### Device, Sync & Advanced Features +## Device, Sync & Advanced Features -#### Multi-Camera Synchronization +### Multi-Camera Synchronization * **`sync_mode`** * 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`** @@ -176,7 +176,7 @@ The following are the launch parameters available: * **`frames_per_trigger`** * The frame number of each stream after each trigger in triggering mode. -#### Network Cameras +### Network Cameras * **`enumerate_net_device`** * 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`** @@ -192,7 +192,7 @@ The following are the launch parameters available: * **`force_ip_gateway`** * Gateway address for the static IP. **Default:** `192.168.1.1` -#### Device-Specific +### Device-Specific * **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`** * Enable the gmsl trigger out signal / set gmsl trigger fps. > Only supports [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md). @@ -217,14 +217,14 @@ The following are the launch parameters available: * **`enable_false_positive_filter`** * Enable this option to reduce ghosting noise. > **Supported Modules**: DaBaiA / DaBaiAL / Gemini 330 series / Gemini345 / Gemini345Lg -#### Disparity +### Disparity * **`disparity_to_depth_mode`** * `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion. Use `disable` to turn it off. * This parameter is case-insensitive. Invalid values are reported and replaced with the default value. * **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`** * Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/configuration/disparity_search_offset.md). -#### Interleave AE Mode +### Interleave AE Mode * **`interleave_ae_mode`** * Set `laser` or `hdr` interleave. * **`interleave_frame_enable`**, **`interleave_skip_enable`**, **`interleave_skip_index`** @@ -233,7 +233,7 @@ 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 +### 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`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples. @@ -249,9 +249,9 @@ The following are the launch parameters available: - **`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. -### Basic & General Parameters +## Basic & General Parameters -#### Firmware & Backend +### Firmware & Backend * **`upgrade_firmware`** * The input parameter is the firmware path. For new versions, use the standalone `firmware_update_tool` for firmware updates. See [firmware_update_tool Tool](../6_benchmark/firmware_update_tool.md). * **`preset_firmware_path`** @@ -263,7 +263,7 @@ The following are the launch parameters available: * **`retry_on_usb3_detection_failure`** * If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets. -#### TF, Extrinsics & Calibration +### TF, Extrinsics & Calibration * **`publish_tf`** / **`tf_publish_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`** @@ -273,7 +273,7 @@ The following are the launch parameters available: * **`enable_[color|depth|ir|left_ir|right_ir]_undistortion`** * Enable the SDK undistortion filter for the selected image stream. Dual-IR devices use `enable_left_ir_undistortion` / `enable_right_ir_undistortion`; single-IR devices use `enable_ir_undistortion`. -#### Time Synchronization +### Time Synchronization * **`enable_sync_host_time`** * Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`. * **`time_domain`** @@ -292,7 +292,7 @@ The following are the launch parameters available: * **`frame_timestamp_csv_file`** * CSV output path for frame timestamp statistics. If empty, no CSV file is written; set a path such as `/tmp/frame_timestamp.csv` to save CSV data. -#### Logging & Diagnostics +### Logging & Diagnostics * **`log_level`** * Shared SDK and ROS node log level. By default, only current device status is printed; set it to `debug` for more debug logs. Optional values: `none`, `debug`, `info`, `warn`, `error`, `fatal`. * SDK logs and crash files are saved to `~/.ros/Log` by default. ROS logs remain in `~/.ros/log`. @@ -305,7 +305,7 @@ The following are the launch parameters available: * **`enable_heartbeat`** * Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware. -#### Miscellaneous +### 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. Some presets or special modes are configured through YAML. See [predefined presets](../5_advanced_guide/configuration/predefined_presets.md). * **`load_config_json_file_path`** @@ -318,7 +318,7 @@ The following are the launch parameters available: * **`enable_d2c_viewer`** * Publishes the D2C overlay image (for testing only). See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for examples. -### IMU +## IMU * **`enable_accel`** / **`enable_gyro`** * Enable the Accelerometer/gyroscope and output its info topic data. @@ -333,7 +333,7 @@ The following are the launch parameters available: * **`linear_accel_cov`** / **`angular_vel_cov`** * Covariance of the linear acceleration and angular velocity. -### Depth Filters +## Depth Filters * **`enable_decimation_filter`** * Enable the Depth decimation filter. Set with `decimation_filter_scale`. 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 fcc28c72..4a2fc700 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 @@ -42,7 +42,7 @@ 以下是可用的启动参数： -### 核心与数据流配置 +## 核心与数据流配置 * **`camera_name`** * 启动节点的命名空间。 @@ -89,9 +89,9 @@ * **`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。 -### 传感器控制 +## 传感器控制 -#### 彩色流 +### 彩色流 * **`enable_color_auto_exposure`** * 启用彩色自动曝光。 * **`enable_color_auto_exposure_priority`** @@ -126,7 +126,7 @@ * 启用ISP彩色降噪功能。**范围：** `0–8`，`0`表示自动。支持 Gemini 330 系列、Gemini 2 固件 `1.5.04` 及以上、Gemini 2L 固件 `1.5.09` 及以上；该功能需要开启彩色自动曝光并依赖新固件支持。 -#### 深度流 +### 深度流 * **`enable_depth_auto_exposure_priority`** * 启用深度自动曝光优先级。 * **`mean_intensity_set_point`** @@ -141,7 +141,7 @@ * **`depth_ae_roi_[left|right|top|bottom]`** * 设置深度自动曝光ROI。 -#### 红外流 +### 红外流 * **`enable_ir_auto_exposure`** * 启用红外自动曝光。 * **`ir_exposure`** / **`ir_gain`** @@ -151,7 +151,7 @@ * **`ir_brightness`** * 设置开启自动曝光时ir图像的目标平均强度。 -#### 激光 / LDP +### 激光 / LDP * **`enable_laser`** * 启用激光。默认值为 `true`。 * **`laser_energy_level`** @@ -159,9 +159,9 @@ * **`enable_ldp`** / **`ldp_power_level`** * 启用LDP并设置其功率级别。 -### 设备、同步与高级功能 +## 设备、同步与高级功能 -#### 多相机同步 +### 多相机同步 * **`sync_mode`** * 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`** @@ -177,7 +177,7 @@ * **`frames_per_trigger`** * 触发模式下每次触发后每个流的帧数。 -#### 网络相机 +### 网络相机 * **`enumerate_net_device`** * 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`** @@ -193,7 +193,7 @@ * **`force_ip_gateway`** * 静态IP的网关地址。**默认值：** `192.168.1.1` -#### 设备特定 +### 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)。 * **`enable_ptp_config`** @@ -217,14 +217,14 @@ * 启用鬼影滤波。可减少重影噪声。 > **支持模组**：DaBaiA / DaBaiAL / Gemini 330 系列 / Gemini345 / Gemini345Lg。 -#### 视差 +### 视差 * **`disparity_to_depth_mode`** * `HW`：使用硬件视差到深度转换。`SW`：使用软件视差到深度转换。也可以设置为 `disable` 关闭。 * 该参数大小写不敏感；非法值会报错并回退默认值。 * **`disparity_range_mode`**、**`disparity_search_offset`**、**`disparity_offset_config`** * 视差搜索偏移参数。用于 [视差搜索偏移](../5_advanced_guide/configuration/disparity_search_offset.md)。 -#### 交错AE模式 +### 交错AE模式 * **`interleave_ae_mode`** * 设置 `laser` 或 `hdr` 交错。 * **`interleave_frame_enable`**、**`interleave_skip_enable`**、**`interleave_skip_index`** @@ -233,7 +233,7 @@ * 在交错帧模式下，设置hdr或laser交错帧的第0和第1帧参数。 * *所有交错参数用于 [交错ae模式](../5_advanced_guide/configuration/interleave_ae_mode.md)。* -#### 相机内同步 +### 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。启动和查看方法参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。 @@ -249,9 +249,9 @@ - **`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。 -### 基础与通用参数 +## 基础与通用参数 -#### 固件与后端 +### 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，参考 [firmware_update_tool 工具](../6_benchmark/firmware_update_tool.md)。 * **`preset_firmware_path`** @@ -263,7 +263,7 @@ * **`retry_on_usb3_detection_failure`** * 如果相机连接到USB 2.0端口且未检测到，系统将尝试重置相机最多三次。使用USB 2.0连接时建议将此参数设置为 `false`，以避免不必要的重置。 -#### TF、外参与校准 +### TF、外参与校准 * **`publish_tf`** / **`tf_publish_rate`** * 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`** @@ -273,7 +273,7 @@ * **`enable_[color|depth|ir|left_ir|right_ir]_undistortion`** * 启用对应图像流的 SDK 去畸变滤波器。双 IR 设备使用 `enable_left_ir_undistortion` / `enable_right_ir_undistortion`，单 IR 设备使用 `enable_ir_undistortion`。 -#### 时间同步 +### 时间同步 * **`enable_sync_host_time`** * 启用主机时间与相机时间的同步。默认值为 `true`。如果使用全局时间，设置为 `false`。 * **`time_domain`** @@ -291,7 +291,7 @@ * **`frame_timestamp_csv_file`** * 帧时间戳 CSV 输出路径。为空时不写 CSV；如需保存 CSV，请指定文件路径，例如 `/tmp/frame_timestamp.csv`。 -#### 日志与诊断 +### 日志与诊断 * **`log_level`** * SDK和ROS节点日志级别。默认只输出设备当前状态；需要更多调试信息时可设置为 `debug`。可选值：`none`、`debug`、`info`、`warn`、`error`、`fatal`。 * SDK日志和崩溃文件默认保存在 `~/.ros/Log`，ROS日志仍保存在 `~/.ros/log`。 @@ -304,7 +304,7 @@ * **`enable_heartbeat`** * 启用心跳功能。默认为 `false`。如果为 `true`，相机节点将向固件发送心跳信号。 -#### 其他 +### 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。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`** @@ -317,7 +317,7 @@ * **`enable_d2c_viewer`** * 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 +## IMU * **`enable_accel`** / **`enable_gyro`** * 启用加速度计/陀螺仪并输出其信息话题数据。 @@ -332,7 +332,7 @@ * **`linear_accel_cov`** / **`angular_vel_cov`** * 线性加速度和角速度的协方差。 -### 深度滤波器 +## 深度滤波器 * **`enable_decimation_filter`** * 启用深度抽取滤波器。使用 `decimation_filter_scale` 设置。