i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 20:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

docs: update section headers for consistency in launch parameters documentation

Browse Source
This commit is contained in:
ob-yalian
2026-06-22 10:31:27 +08:00
parent 12cdf8117e
commit e61cc482a5
2 changed files with 42 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+21 -21
View File
@@ -42,7 +42,7 @@ Launch parameters can be modified in two ways:
The following are the launch parameters available: The following are the launch parameters available:
### Core & Stream Configuration ## Core & Stream Configuration
* **`camera_name`** * **`camera_name`**
* Start the node namespace. * Start the node namespace.
@@ -89,9 +89,9 @@ The following are the launch parameters available:
* **`point_cloud_decimation_filter_factor`** * **`point_cloud_decimation_filter_factor`**
* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling. * Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
### Sensor Controls ## Sensor Controls
#### Color Stream ### Color Stream
* **`enable_color_auto_exposure`** * **`enable_color_auto_exposure`**
* Enable the Color auto exposure. * Enable the Color auto exposure.
* **`enable_color_auto_exposure_priority`** * **`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. * 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_depth_auto_exposure_priority`**
* Enable the Depth auto exposure priority. * Enable the Depth auto exposure priority.
* **`mean_intensity_set_point`** * **`mean_intensity_set_point`**
@@ -141,7 +141,7 @@ The following are the launch parameters available:
* **`depth_ae_roi_[left|right|top|bottom]`** * **`depth_ae_roi_[left|right|top|bottom]`**
* Set Depth auto exposure ROI. * Set Depth auto exposure ROI.
#### IR Stream ### IR Stream
* **`enable_ir_auto_exposure`** * **`enable_ir_auto_exposure`**
* Enable the IR auto exposure. * Enable the IR auto exposure.
* **`ir_exposure`** / **`ir_gain`** * **`ir_exposure`** / **`ir_gain`**
@@ -150,7 +150,7 @@ The following are the launch parameters available:
* Set the maximum exposure value for IR auto exposure. * Set the maximum exposure value for IR auto exposure.
* **`ir_brightness`** * **`ir_brightness`**
* Set the target average intensity of the ir image when auto-exposure is turned on. * Set the target average intensity of the ir image when auto-exposure is turned on.
#### Laser / LDP ### Laser / LDP
* **`enable_laser`** * **`enable_laser`**
* Enable the laser. The default value is `true`. * Enable the laser. The default value is `true`.
* **`laser_energy_level`** * **`laser_energy_level`**
@@ -158,9 +158,9 @@ The following are the launch parameters available:
* **`enable_ldp`** / **`ldp_power_level`** * **`enable_ldp`** / **`ldp_power_level`**
* Enable the LDP and set its 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`** * **`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. * 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`** * **`depth_delay_us`** / **`color_delay_us`**
@@ -176,7 +176,7 @@ The following are the launch parameters available:
* **`frames_per_trigger`** * **`frames_per_trigger`**
* The frame number of each stream after each trigger in triggering mode. * The frame number of each stream after each trigger in triggering mode.
#### Network Cameras ### Network Cameras
* **`enumerate_net_device`** * **`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. * 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`** * **`net_device_ip`** / **`net_device_port`**
@@ -192,7 +192,7 @@ The following are the launch parameters available:
* **`force_ip_gateway`** * **`force_ip_gateway`**
* Gateway address for the static IP. **Default:** `192.168.1.1` * Gateway address for the static IP. **Default:** `192.168.1.1`
#### Device-Specific ### Device-Specific
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`** * **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* Enable the gmsl trigger out signal / set 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). > 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_false_positive_filter`**
* Enable this option to reduce ghosting noise. * Enable this option to reduce ghosting noise.
> **Supported Modules**: DaBaiA / DaBaiAL / Gemini 330 series / Gemini345 / Gemini345Lg > **Supported Modules**: DaBaiA / DaBaiAL / Gemini 330 series / Gemini345 / Gemini345Lg
#### Disparity ### Disparity
* **`disparity_to_depth_mode`** * **`disparity_to_depth_mode`**
* `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion. Use `disable` to turn it off. * `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. * This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
* **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`** * **`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). * 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`** * **`interleave_ae_mode`**
* Set `laser` or `hdr` interleave. * Set `laser` or `hdr` interleave.
* **`interleave_frame_enable`**, **`interleave_skip_enable`**, **`interleave_skip_index`** * **`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. * 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).* * *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`** - **`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. * 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`** - **`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. - 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`** * **`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). * 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`** * **`preset_firmware_path`**
@@ -263,7 +263,7 @@ The following are the launch parameters available:
* **`retry_on_usb3_detection_failure`** * **`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. * 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`** * **`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 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_publish_extrinsic`**
@@ -273,7 +273,7 @@ The following are the launch parameters available:
* **`enable_[color|depth|ir|left_ir|right_ir]_undistortion`** * **`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`. * 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_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`. * Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
* **`time_domain`** * **`time_domain`**
@@ -292,7 +292,7 @@ The following are the launch parameters available:
* **`frame_timestamp_csv_file`** * **`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. * 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`** * **`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`. * 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`. * 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_heartbeat`**
* Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware. * Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware.
#### Miscellaneous ### Miscellaneous
* **`config_file_path`** * **`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). * 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`** * **`load_config_json_file_path`**
@@ -318,7 +318,7 @@ The following are the launch parameters available:
* **`enable_d2c_viewer`** * **`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. * 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_accel`** / **`enable_gyro`**
* Enable the Accelerometer/gyroscope and output its info topic data. * 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`** * **`linear_accel_cov`** / **`angular_vel_cov`**
* Covariance of the linear acceleration and angular velocity. * Covariance of the linear acceleration and angular velocity.
### Depth Filters ## Depth Filters
* **`enable_decimation_filter`** * **`enable_decimation_filter`**
* Enable the Depth decimation filter. Set with `decimation_filter_scale`. * Enable the Depth decimation filter. Set with `decimation_filter_scale`.
docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+21 -21
View File
@@ -42,7 +42,7 @@
以下是可用的启动参数： 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`** * **`camera_name`**
* 启动节点的命名空间。 * 启动节点的命名空间。
@@ -89,9 +89,9 @@
* **`point_cloud_decimation_filter_factor`** * **`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。 * 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`** * **`enable_color_auto_exposure`**
* 启用彩色自动曝光。 * 启用彩色自动曝光。
* **`enable_color_auto_exposure_priority`** * **`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。 * 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`** * **`enable_depth_auto_exposure_priority`**
* 启用深度自动曝光优先级。 * 启用深度自动曝光优先级。
* **`mean_intensity_set_point`** * **`mean_intensity_set_point`**
@@ -141,7 +141,7 @@
* **`depth_ae_roi_[left|right|top|bottom]`** * **`depth_ae_roi_[left|right|top|bottom]`**
* 设置深度自动曝光ROI。 * 设置深度自动曝光ROI。
#### 红外流 ### 红外流
* **`enable_ir_auto_exposure`** * **`enable_ir_auto_exposure`**
* 启用红外自动曝光。 * 启用红外自动曝光。
* **`ir_exposure`** / **`ir_gain`** * **`ir_exposure`** / **`ir_gain`**
@@ -151,7 +151,7 @@
* **`ir_brightness`** * **`ir_brightness`**
* 设置开启自动曝光时ir图像的目标平均强度。 * 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`** * **`enable_laser`**
* 启用激光。默认值为 `true`。 * 启用激光。默认值为 `true`。
* **`laser_energy_level`** * **`laser_energy_level`**
@@ -159,9 +159,9 @@
* **`enable_ldp`** / **`ldp_power_level`** * **`enable_ldp`** / **`ldp_power_level`**
* 启用LDP并设置其功率级别。 * 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`** * **`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)。 * 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`** * **`depth_delay_us`** / **`color_delay_us`**
@@ -177,7 +177,7 @@
* **`frames_per_trigger`** * **`frames_per_trigger`**
* 触发模式下每次触发后每个流的帧数。 * 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`** * **`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)。 * 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`** * **`net_device_ip`** / **`net_device_port`**
@@ -193,7 +193,7 @@
* **`force_ip_gateway`** * **`force_ip_gateway`**
* 静态IP的网关地址。**默认值：** `192.168.1.1` * 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`** * **`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)。 * 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`** * **`enable_ptp_config`**
@@ -217,14 +217,14 @@
* 启用鬼影滤波。可减少重影噪声。 * 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。 > **支持模组**：DaBaiA / DaBaiAL / Gemini 330 系列 / Gemini345 / Gemini345Lg。
#### 视差 ### 视差
* **`disparity_to_depth_mode`** * **`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。 * `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。 * 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`** * **`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)。 * 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`** * **`interleave_ae_mode`**
* 设置 `laser` 或 `hdr` 交错。 * 设置 `laser` 或 `hdr` 交错。
* **`interleave_frame_enable`**、**`interleave_skip_enable`**、**`interleave_skip_index`** * **`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。 * 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)。* * *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`** - **`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)。 * 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`** - **`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。 - 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`** * **`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)。 * 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`** * **`preset_firmware_path`**
@@ -263,7 +263,7 @@
* **`retry_on_usb3_detection_failure`** * **`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。 * 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`** * **`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)。 * 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`** * **`enable_publish_extrinsic`**
@@ -273,7 +273,7 @@
* **`enable_[color|depth|ir|left_ir|right_ir]_undistortion`** * **`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`。 * 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`** * **`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`。 * 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`** * **`time_domain`**
@@ -291,7 +291,7 @@
* **`frame_timestamp_csv_file`** * **`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`。 * 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`** * **`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`。 * 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`** * **`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。 * 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`** * **`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)。 * 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`** * **`load_config_json_file_path`**
@@ -317,7 +317,7 @@
* **`enable_d2c_viewer`** * **`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)。 * 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`** * **`enable_accel`** / **`enable_gyro`**
* 启用加速度计/陀螺仪并输出其信息话题数据。 * 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`** * **`linear_accel_cov`** / **`angular_vel_cov`**
* 线性加速度和角速度的协方差。 * 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`** * **`enable_decimation_filter`**
* 启用深度抽取滤波器。使用 `decimation_filter_scale` 设置。 * 启用深度抽取滤波器。使用 `decimation_filter_scale` 设置。