<liclass="toctree-l3"><aclass="reference internal"href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
</ul>
</li>
<liclass="toctree-l2"><aclass="reference internal"href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
</ul>
</li>
</ul>
</li>
<liclass="toctree-l2 current"><aclass="reference internal"href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ulclass="current">
<liclass="toctree-l3"><aclass="reference internal"href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<h1><spanclass="section-number">5.3.5. </span>Using interleave_ae with Gemini330 series cameras<aclass="headerlink"href="#using-interleave-ae-with-gemini330-series-cameras"title="Link to this heading"></a></h1>
<div><p>This section describes how to use interleave_ae in Gemini 330 series cameras (minimum camera firmware version <aclass="reference external"href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.00</a>)</p>
<h2><spanclass="section-number">5.3.5.1. </span>Parameter Introduction<aclass="headerlink"href="#parameter-introduction"title="Link to this heading"></a></h2>
<p>The interleave_ae related parameters are set in <aclass="reference external"href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
<ulclass="simple">
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">interleave_ae_mode</span></code> : Set laser or hdr interleave.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">interleave_skip_index</span></code> : Set 0 for skip pattern ir, set 1 for skip flood ir.</p></li>
</ul>
<p><strong>interleave hdr</strong></p>
<p>When the <codeclass="docutils literal notranslate"><spanclass="pre">interleave_ae_mode</span></code> parameter is set to <codeclass="docutils literal notranslate"><spanclass="pre">hdr</span></code> and <codeclass="docutils literal notranslate"><spanclass="pre">interleave_frame_enable</span></code>is set to <codeclass="docutils literal notranslate"><spanclass="pre">true</span></code>, interleave hdr will be enabled</p>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">hdr_index1_depth_exposure</span></code> : Frame 1 depth exposure value setting, not in AE mode.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">hdr_index1_depth_gain</span></code> : Frame 1 depth gain value setting, not in AE mode.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">hdr_index1_ir_brightness</span></code> : Frame 1 ir gain value setting.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">hdr_index1_ir_ae_max_exposure</span></code> : Frame 1 ir maximum exposure value setting in AE (auto exposure).</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">hdr_index0_depth_exposure</span></code>: Frame 0 depth exposure value setting, not in AE mode.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">hdr_index0_depth_gain</span></code> : Frame 0 depth gain value setting, not in AE mode.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">hdr_index0_ir_brightness</span></code> : Frame 0 ir gain value setting.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">hdr_index0_ir_ae_max_exposure</span></code> : Frame 0 ir maximum exposure value setting in AE (auto exposure).</p></li>
</ul>
<p><strong>interleave laser</strong></p>
<p>When the <codeclass="docutils literal notranslate"><spanclass="pre">interleave_ae_mode</span></code> parameter is set to <codeclass="docutils literal notranslate"><spanclass="pre">laser</span></code> and <codeclass="docutils literal notranslate"><spanclass="pre">interleave_frame_enable</span></code>is set to <codeclass="docutils literal notranslate"><spanclass="pre">true</span></code>, interleave laser will be enabled</p>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">laser_index1_depth_exposure</span></code> : Frame 1 depth exposure value setting, not in AE mode.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">laser_index1_depth_gain</span></code> : Frame 1 depth gain value setting, not in AE mode.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">laser_index1_ir_brightness</span></code> : Frame 1 ir gain value setting.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">laser_index1_ir_ae_max_exposure</span></code> : Frame 1 ir maximum exposure value setting in AE (auto exposure).</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">laser_index0_depth_exposure</span></code> : Frame 0 depth exposure value setting, not in AE mode.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">laser_index0_depth_gain</span></code> : Frame 0 depth gain value setting, not in AE mode.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">laser_index0_ir_brightness</span></code> : Frame 0 ir gain value setting.</p></li>
<li><p><codeclass="docutils literal notranslate"><spanclass="pre">laser_index0_ir_ae_max_exposure</span></code> : Frame 0 ir maximum exposure value setting in AE (auto exposure).</p></li>
<p>Setting the interleave_ae parameter,<codeclass="docutils literal notranslate"><spanclass="pre">colcon</span><spanclass="pre">build</span></code> again and run launch</p>
<h2><spanclass="section-number">5.3.5.3. </span>Multi_camera_synced + Interleave_ae<aclass="headerlink"href="#multi-camera-synced-interleave-ae"title="Link to this heading"></a></h2>
<p>Please refer to <aclass="reference external"href="./multi_camera_synced">multi_camera_synced</a> and <aclass="reference external"href="#parameter-introduction">Parameter Introduction</a></p>
