updated readme

README.md

@@ -305,6 +305,20 @@ User can set the camera name and camera namespace, to distinguish between camera
     - 1 -> **copy**: Every gyro message will be attached by the last accel message.
     - 2 -> **linear_interpolation**: Every gyro message will be attached by an accel message which is interpolated to gyro's timestamp.
   - Note: When the param *unite_imu_method* is dynamically updated, re-enable either gyro or accel stream for the change to take effect.
+- **accelerate_with_gpu**:
+  - GPU accelerated processing of PointCloud and Colorizer filters.
+  - integer:
+    - 0 --> **NO_GPU**: use only CPU for proccessing PointCloud and Colorizer filters
+    - 1 --> **GL_GPU**: use GLSL to accelerate GPU for processing PointCloud and Colorizer filters
+  - Note:
+    - To have smooth transition between the processing blocks when this parameter is updated dynamically, the node will:
+      - Stop the video sensors
+      - Do necessary GLSL configuration
+      - And then, start the video sensors
+    - To enable GPU acceleration, turn ON `BUILD_ACCELERATE_WITH_GPU` during build:
+    ```bash
+    colcon build --cmake-args '-DBUILD_ACCELERATE_WITH_GPU=ON'
+    ```
 
 #### Parameters that cannot be changed in runtime:
 - **serial_no**:
@@ -354,15 +368,6 @@ User can set the camera name and camera namespace, to distinguish between camera
   - double, positive values set the period between diagnostics updates on the `/diagnostics` topic.
   - 0 or negative values mean no diagnostics topic is published. Defaults to 0.</br>
 The `/diagnostics` topic includes information regarding the device temperatures and actual frequency of the enabled streams.
-- **accelerate_with_gpu**:
-  - GPU accelerated processing of PointCloud and Colorizer filters.
-  - integer:
-    - 0 --> **NO_GPU**: use only CPU for proccessing PointCloud and Colorizer filters
-    - 1 --> **GL_GPU**: use GLSL to accelerate GPU for processing PointCloud and Colorizer filters
-  - Note: To enable GPU acceleration, turn ON `BUILD_ACCELERATE_WITH_GPU` during build:
-    ```bash
-    colcon build --cmake-args '-DBUILD_ACCELERATE_WITH_GPU=ON'
-    ```
 
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