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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.

  • device_preset

    • The default value is Default. You can use the following command to view the configurable mode

    ros2 run orbbec_camera list_camera_profile_mode_node

  • [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"].

  • point_cloud_decimation_filter_factor

    • Point cloud downsampling factor. Range: 1–8. 1 means no downsampling.

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 average intensity of the depth image when auto-exposure is turned on. For example: mean_intensity_set_point:=100.

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

  • enable_depth_scale

    • Whether to enable depth scaling after setting D2C. true means enabled, the default is true.

  • 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 target average intensity of the ir image when auto-exposure is turned on.

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

  • preset_resolution_config

    • Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Leave empty to disable.

    Only supported 435Le.

  • enable_gmsl_trigger / gmsl_trigger_fps

    • Enable the gmsl trigger out signal / set gmsl trigger fps.

    Only supports gmsl camera.

  • ae_mode

    • colorbased: Automatic exposure based on color flow. depthbased: Automatic exposure based on depth flow. 默认值： depthbased

      Only supports Gemini 305.

  • enalbe_sports_mode

    • Whether to enable sports mode. Default: false

      Only supports Gemini 305.

  • depth_downscale / left_ir_downscale /right_ir_downscale

    • Set the downsampling multiple. You can use ros2 run orbbec_camera list_camera_profile_mode_node to view the settable resolution. Default value: 1

      Only supports Gemini 305.

  • enable_ptp_config

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

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. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to 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_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.

  • log_file_name

    • Saved SDK log file name. Effective when log_level is debug.

  • 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.