OrbbecSDK_ROS2/docs/predefined_presets.md

Predefined presets

Preset	Features	Recommended use cases
Default	- Best visual perception``- Overall good performance in accuracy, fill rate, tiny objects, etc.	- Generic <br>- Robotics
Hand	- Clear hand and finger edges	- Gesture recognition
High Accuracy	- Depth of high confidence <br>- Barely noise depth values <br>- Lower fill rate	- Collision avoidance <br>- Object scanning
High Density	- Higher fill rate <br>- More tiny objects <br>- May suffer from noise depth values	- Object recognition <br>- Pick & place <br>- Foreground & background animation
Medium Density	- Balanced performance in fill rate and accuracy <br>- In comparison to Default: lower fill rate, better edge quality	- Generic and alternative to Default
Custom	- User defined Preset <br>- Derived from Presets above, with customized modifications, e.g. a new configuration for the post-processing pipeline, modified mean intensity set point of depth AE function, etc.	- Better depth performance achieved using customized configurations in comparison to using predefined presets <br>- For well-established custom configurations

Choose the appropriate preset name based on your specific use case and set it as the value for the device_preset parameter.

Optional depth preset

You can pass the firmware path of the Optional preset into the preset_firmware_path launch param

ros2 launch orbbec_camera gemini_330_series.launch.py preset_firmware_path:=/home/orbbec/G336X_Dimensioning_Accurate_0.0.1_78C743B9.bin,/home/orbbec/G336X_Dimensioning_Dense_0.0.1_4E70D227.bin device_preset:=G336X Dimensioning Dense