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Add documentation for False Positive Filter and SDK JSON configuration

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ob-yalian
2026-07-09 11:25:50 +08:00
parent ea550c00c4
commit f560b0bd18
10 changed files with 776 additions and 12 deletions
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -258,8 +258,8 @@ The following are the launch parameters available:
* Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`
> **Supported Modules**: Gemini 301 series
* **`enable_false_positive_filter`**
* Enable this option to reduce ghosting noise.
> **Supported Modules**: DaBaiA / DaBaiAL / Gemini 330 series / Gemini345 / Gemini345Lg
* Enable this option to reduce ghosting noise. For usage examples and runtime tuning, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md).
> **Supported Modules**: Gemini 330 series / Gemini 340 series
* **`enable_edge_noise_removal_filter`**
* Enable EdgeNoiseRemovalFilter to reduce edge noise in depth frames.
> **Supported Modules**: DaBai Max Pro
@@ -330,11 +330,11 @@ The following are the launch parameters available:
* **`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`**
* 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.
* If the JSON contains `application_config`, the node syncs stream enable states, resolution, frame rate, format, undistortion, point cloud, HDR merge, and device-level decimation from it when those values are not explicitly overridden by launch parameters.
* 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. See [SDK JSON Import and Export for Gemini 330 Series](../5_advanced_guide/configuration/sdk_json_config.md).
* If the JSON contains `application_config`, the node syncs stream enable states, resolution, frame rate, format, undistortion, point cloud, HDR merge, and device-level decimation from it when the corresponding launch / YAML parameters have not been passed to the node.
* **`export_config_json_file_path`**
* SDK JSON configuration export path. When set, the node exports the current device configuration to JSON after initialization. You can also export at runtime with the `/camera/export_config_json` service.
* Before export, the node syncs the current ROS sensor stream, point cloud, and HDR merge settings into the SDK `application_config` when the device supports it.
* SDK JSON configuration export path. When set, the node exports the current device configuration to JSON after initialization. You can also export at runtime with the `/camera/export_config_json` service. See [SDK JSON Import and Export for Gemini 330 Series](../5_advanced_guide/configuration/sdk_json_config.md).
* Before export, the node syncs the current ROS2 sensor stream, point cloud, and HDR merge settings into the SDK `application_config` when the device supports it.
* **`frame_aggregate_mode`**
* 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.
docs/en/source/camera_devices/4_application_guide/services.md
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@@ -167,6 +167,7 @@
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
```
* `/camera/export_config_json`
Export the current device configuration to an SDK JSON file. For the Gemini 330 series JSON import and export workflow, see [SDK JSON Import and Export for Gemini 330 Series](../5_advanced_guide/configuration/sdk_json_config.md).
```bash
ros2 service call /camera/export_config_json orbbec_camera_msgs/srv/SetString "{data: '/tmp/orbbec_camera_config.json'}"
```
@@ -212,6 +213,7 @@
### Depth Filter Configuration
* `/camera/set_filter`
For `FalsePositiveFilter` startup parameters, status checks, and named-parameter tuning examples, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md).
```bash
# filter_name is the filter name, and filter_enable indicates whether the filter is enabled.
# filter_param is the legacy positional parameter form; filter_config is the new named parameter form.