From 123731a0a4b1acce2e90c960ae59d1f755bce289 Mon Sep 17 00:00:00 2001 From: jj <957713278@qq.com> Date: Sat, 15 Feb 2025 17:50:16 +0800 Subject: [PATCH] Update multi_camera_lower_cpu_usage.launch.py --- orbbec_camera/examples/lower_cpu_usage/README.MD | 15 ++++++++------- .../multi_camera_lower_cpu_usage.launch.py | 4 ++-- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/orbbec_camera/examples/lower_cpu_usage/README.MD b/orbbec_camera/examples/lower_cpu_usage/README.MD index 0c4e7e5..99846bb 100644 --- a/orbbec_camera/examples/lower_cpu_usage/README.MD +++ b/orbbec_camera/examples/lower_cpu_usage/README.MD @@ -6,13 +6,14 @@ The example launch files used in this section are `gemini_330_series_lower_cpu_u ### Parameters that affect CPU usage -`uvc_backend`:Global UVC Backend select on Linux,optional values: libuvc, v4l2.(v4l2 is lower) -`color_format`:Color stream coding format.(RGB is lower) -`depth_registration`: Enables alignment of the depth frame to the color frame.(align_mode is set to HW lower) -`enable_point_cloud`:Enables the point cloud. -`enable_colored_point_cloud`:Enables the RGB point cloud. -`filter`:decimation_filter,hdr_merge,sequenced_filter,threshold_filter,hardware_noise_removal_filter,noise_removal_filter,spatial_filter,temporal_filter,hole_filling_filter.(hardware_noise_removal_filter is lower) -`Video stream resolution and frame rate` +* `uvc_backend`:Global UVC Backend select on Linux,optional values: libuvc, v4l2.(v4l2 is lower) +* `color_format`:Color stream coding format.(RGB is lower) + +* `depth_registration`: Enables alignment of the depth frame to the color frame.(align_mode is set to HW lower) +* `enable_point_cloud`:Enables the point cloud + +* `enable_colored_point_cloud`:Enables the RGB point cloud +* `filter`:decimation_filter,hdr_merge,sequenced_filter,threshold_filter,hardware_noise_removal_filter,noise_removal_filter,spatial_filter,temporal_filter,hole_filling_filter.(hardware_noise_removal_filter is lower) ### Data comparison diff --git a/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py b/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py index 1e4ac03..d213587 100644 --- a/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py +++ b/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py @@ -66,7 +66,7 @@ def generate_launch_description(): condition=UnlessCondition(attach_to_shared_component_container_arg), ) - + attach_to_shared_component_container_arg = TextSubstitution(text="true") launch1_include = IncludeLaunchDescription( PythonLaunchDescriptionSource( @@ -100,7 +100,7 @@ def generate_launch_description(): ), launch_arguments={ "camera_name": "camera_03", - "usb_port": "2-1", + "usb_port": "2-6", "device_num": "4", "sync_mode": "standalone", "attach_to_shared_component_container": attach_to_shared_component_container_arg,