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4.1. Launch parameters

If you are not sure how to set the parameters, you can connect the orbbec camera and open the OrbbecViewer.

The following are the launch parameters available:

4.1.1. Core & Stream Configuration

  • camera_name

    • Start the node namespace.

  • serial_number

    • The serial number of the camera. This is required when multiple cameras are used.

  • usb_port

    • The USB port of the camera. This is required when multiple cameras are used.

  • device_num

    • The number of devices. This must be filled in if multiple cameras are required.

  • [color|depth|left_ir|right_ir|ir]_[width|height|fps|format]

    • The resolution and frame rate of the sensor stream.

  • [color|depth|left_ir|right_ir|ir]_rotation

    • Set stream image rotation.

    • The possible values are 0, 90, 180, 270.

  • [color|depth|left_ir|right_ir|ir]_flip

    • Enable the stream image flip.

  • [color|depth|left_ir|right_ir|ir]_mirror

    • Enable the stream image mirror.

  • enable_point_cloud

    • Enable the point cloud.

  • enable_colored_point_cloud

    • Enable the RGB point cloud.

  • cloud_frame_id

    • Modify the frame_id name within the ros message.

  • ordered_pc

    • Enable filtering of invalid point clouds.

  • 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"].

  • depth.image_raw.enable_pub_plugins

    • Enable Depth image transport plugins. Default: ["image_transport/compressedDepth", "image_transport/raw"].

  • left_ir.image_raw.enable_pub_plugins

    • Enable Left IR image transport plugins. Default: ["image_transport/compressed", "image_transport/raw", "image_transport/theora"].

  • right_ir.image_raw.enable_pub_plugins

    • Enable Right IR image transport plugins. Default: ["image_transport/compressed", "image_transport/raw", "image_transport/theora"].

4.1.2. Sensor Controls

4.1.2.1. Color Stream

  • enable_color_auto_exposure

    • Enable the Color auto exposure.

  • enable_color_auto_exposure_priority

    • Enable the Color auto exposure priority.

  • color_exposure

    • Set the Color exposure.

  • color_gain

    • Set the Color gain.

  • enable_color_auto_white_balance

    • Enable the Color auto white balance.

  • color_white_balance

    • Set the Color white balance.

  • color_ae_max_exposure

    • Set the maximum exposure value for Color auto exposure.

  • color_brightness, color_sharpness, color_gamma, color_saturation, color_contrast, color_hue

    • Set the Color brightness, sharpness, gamma, saturation, contrast, and hue.

  • color_backlight_compensation

    • Enables the color camera’s backlight compensation feature. Range: 0–6, Default: 3.

  • color_powerline_freq

    • Set the power line freq. The possible values are disable, 50hz, 60hz, auto.

  • enable_color_decimation_filter / color_decimation_filter_scale

    • Enable the Color decimation filter and set its scale.

  • color_ae_roi_[left|right|top|bottom]

    • Set Color auto exposure ROI.

  • color_denoising_level

    • Enables the ISP denoising feature for Gemini 330 series devices. Range: 0–8, Default: 0 (auto).

4.1.2.2. Depth Stream

  • enable_depth_auto_exposure_priority

    • Enable the Depth auto exposure priority.

  • mean_intensity_set_point

    • Set the target mean intensity of the Depth image. For example: mean_intensity_set_point:=100.

    Note: This replaces the deprecated depth_brightness, which is still supported for backward compatibility.

  • enable_depth_scale

    • Enable the depth scale.

  • depth_precision

    • The depth precision should be in the format 1mm. The default value is 1mm.

  • depth_ae_roi_[left|right|top|bottom]

    • Set Depth auto exposure ROI.

4.1.2.3. IR Stream

  • enable_ir_auto_exposure

    • Enable the IR auto exposure.

  • ir_exposure / ir_gain

    • Set the IR exposure and gain.

  • ir_ae_max_exposure

    • Set the maximum exposure value for IR auto exposure.

  • ir_brightness

    • Set the IR brightness.

4.1.2.4. Laser / LDP

  • enable_laser

    • Enable the laser. The default value is true.

  • laser_energy_level

    • Set the laser energy level.

  • enable_ldp / ldp_power_level

    • Enable the LDP and set its power level.

4.1.3. Device, Sync & Advanced Features

4.1.3.1. Multi-Camera Synchronization

  • sync_mode

    • Set sync mode. The default value is standalone.

  • 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

    • The delay time (microseconds) of the image capture after receiving the capture command or trigger signal. Us

  • trigger_out_delay_us

    • The delay time (microseconds) of the trigger signal output after receiving the capture command or trigger signal.

  • trigger_out_enabled

    • Enable the trigger out signal.

  • software_trigger_enabled / software_trigger_period

    • Enable the software trigger out signal / set the software trigger period in ms.

  • frames_per_trigger

    • The frame number of each stream after each trigger in triggering mode.

4.1.3.2. Network Cameras

  • enumerate_net_device

    • Enable automatically enumerate network devices.

  • net_device_ip / net_device_port

    • Set net device’s IP address and port (Usually 8090).

  • force_ip_enable

    • Enable the Force IP function. Default: false

  • force_ip_mac

    • Target device MAC address when multiple cameras are connected (e.g., "54:14:FD:06:07:DA"). You can use the list_devices_node to find the MAC of each device. Default: ""

  • force_ip_address

    • Static IP address to assign. Default: 192.168.1.10

  • force_ip_subnet_mask

    • 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.

4.1.3.3. Device-Specific

  • device_preset

    • The default value is Default. Only the G330 series is supported. For more information, refer to the G330 documentation. The value should be one of the preset names listed in the table.

  • enable_gmsl_trigger / gmsl_trigger_fps

    • Enable the gmsl trigger out signal / set gmsl trigger fps. Used for gmsl camera.

4.1.3.4. Disparity

  • disparity_to_depth_mode

    • HW: use hardware disparity to depth conversion. SW: use software disparity to depth conversion.

  • disparity_range_mode, disparity_search_offset, disparity_offset_config

4.1.3.5. Interleave AE Mode

  • interleave_ae_mode

    • Set laser or hdr interleave.

  • interleave_frame_enable, interleave_skip_enable, interleave_skip_index

    • Parameters to control interleave frame mode.

  • [hdr|laser]_index[0|1]_[...]

    • 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.

4.1.3.6. 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.

  • align_mode

    • The alignment mode to be used. Options are HW for hardware alignment and SW for software alignment.

  • align_target_stream

    • Set align target stream mode.

    • The possible values are COLOR, DEPTH.

    • COLOR: Align depth to color.

    • DEPTH: Align color to depth.

  • 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. Default: Middle

4.1.4. Basic & General Parameters

4.1.4.1. Firmware & Backend

  • upgrade_firmware

    • The input parameter is the firmware path.

  • 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.

  • uvc_backend

    • Optional values: v4l2, libuvc.

  • 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

    • 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.

4.1.4.2. TF, Extrinsics & Calibration

  • publish_tf / tf_publish_rate

    • Enable the TF publish and set its publication rate.

  • enable_publish_extrinsic

    • Enable the extrinsics publish.

  • ir_info_url / color_info_url

    • Set URL of the IR/color camera info.

  • enable_color_undistortion

    • Enable the Color undistortion.

4.1.4.3. 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

    • Select timestamp type: device, global, and system.

  • time_sync_period

    • Interval (in seconds) for synchronizing the camera time with the host system.

    Note: This parameter only needs to be set when enable_sync_host_time = true and time_domain = device.

  • enable_ptp_config

    • Enable PTP time synchronization. Only for Gemini 335Le. Requires enable_sync_host_time to be false.

  • enable_frame_sync

    • Enable the frame synchronization.

4.1.4.4. Logging & Diagnostics

  • log_level

    • SDK log level. Default is info. Optional values: debug, info, warn, error, fatal.

  • diagnostic_period

    • Diagnostic period in seconds.

  • enable_heartbeat

    • Enable the heartbeat function. Default is false. If true, the camera node will send heartbeat signals to the firmware.

4.1.4.5. 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.

  • frame_aggregate_mode

    • Set frame aggregate output mode. Optional values: full_frame, color_frame, ANY, disable.

  • enable_d2c_viewer

    • Publishes the D2C overlay image (for testing only).

4.1.5. IMU

  • enable_accel / enable_gyro

    • Enable the Accelerometer/gyroscope and output its info topic data.

  • enable_sync_output_accel_gyro

    • Enable the sync accel_gyro, and output IMU topic real-time data.

  • accel_rate / gyro_rate

    • The frequency of the accelerometer/gyroscope. Values range from 1.5625hz to 32khz.

  • accel_range / gyro_range

    • The range of the accelerometer (2g, 4g, 8g, 16g) and gyroscope (16dps to 2000dps).

  • enable_accel_data_correction / enable_gyro_data_correction

    • Enable data correction for the accelerometer/gyroscope.

  • linear_accel_cov / angular_vel_cov

    • Covariance of the linear acceleration and angular velocity.

4.1.6. Depth Filters

  • enable_decimation_filter

    • Enable the Depth decimation filter. Set with decimation_filter_scale.

  • enable_hdr_merge

    • Enable the Depth hdr merge filter. Set with hdr_merge_exposure_1, etc.

  • enable_sequence_id_filter

    • Enable the Depth sequence id filter. Set with sequence_id_filter_id.

  • 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_noise_removal_filter

    • Enable the Depth software noise removal filter. Set with noise_removal_filter_min_diff, etc.

  • enable_spatial_filter

    • Enable the Depth spatial filter. Set with spatial_filter_alpha, etc.

  • enable_temporal_filter

    • Enable the Depth temporal filter. Set with temporal_filter_diff_threshold, etc.

  • enable_hole_filling_filter

    • Enable the Depth hole filling filter. Set with hole_filling_filter_mode.

  • enable_spatial_fast_filter

    • Enable the Depth spatial fast filter. Set with spatial_fast_filter_radius.

  • enable_spatial_moderate_filter

    • Enable the Depth spatial moderate filter. Set with spatial_moderate_filter_diff_threshold, etc.

IMPORTANT: Please carefully read the instructions regarding software filtering settings at this link. If you are uncertain, do not modify these settings.