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70 lines
2.9 KiB
Markdown
70 lines
2.9 KiB
Markdown
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# Using interleave_ae with Gemini330 series cameras
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> This section describes how to use interleave_ae in Gemini330 series cameras (minimum camera firmware version [1.4.00](https://www.orbbec.com/docs/g330-firmware-release/))
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## Parameter Introduction
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The interleave_ae related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py)
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* `interleave_ae_mode` : Set laser or hdr interleave.
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* `interleave_frame_enable` : enable interleave frame mode.
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* `interleave_skip_enable` : enable skip frame mode.
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* `interleave_skip_index` : Set 0 for skip pattern ir, set 1 for skip flood ir.
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### interleave hdr
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When the `interleave_ae_mode` parameter is set to `hdr` and `interleave_frame_enable `is set to `true`, interleave hdr will be enabled
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* `hdr_index1_laser_control` : Frame 1 laser switch settings.
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* `hdr_index1_depth_exposure` : Frame 1 depth exposure value setting, not in AE mode.
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* `hdr_index1_depth_gain` : Frame 1 depth gain value setting, not in AE mode.
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* `hdr_index1_ir_brightness` : Frame 1 ir gain value setting.
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* `hdr_index1_ir_ae_max_exposure` : Frame 1 ir maximum exposure value setting in AE (auto exposure).
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* `hdr_index0_laser_control`: Frame 0 laser switch settings.
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* `hdr_index0_depth_exposure`: Frame 0 depth exposure value setting, not in AE mode.
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* `hdr_index0_depth_gain` : Frame 0 depth gain value setting, not in AE mode.
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* `hdr_index0_ir_brightness` : Frame 0 ir gain value setting.
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* `hdr_index0_ir_ae_max_exposure` : Frame 0 ir maximum exposure value setting in AE (auto exposure).
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### interleave laser
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When the `interleave_ae_mode` parameter is set to `laser` and `interleave_frame_enable `is set to `true`, interleave laser will be enabled
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* `laser_index1_laser_control` : Frame 1 laser switch settings.
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* `laser_index1_depth_exposure` : Frame 1 depth exposure value setting, not in AE mode.
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* `laser_index1_depth_gain` : Frame 1 depth gain value setting, not in AE mode.
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* `laser_index1_ir_brightness` : Frame 1 ir gain value setting.
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* `laser_index1_ir_ae_max_exposure` : Frame 1 ir maximum exposure value setting in AE (auto exposure).
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* `laser_index0_laser_control` : Frame 0 laser switch settings.
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* `laser_index0_depth_exposure` : Frame 0 depth exposure value setting, not in AE mode.
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* `laser_index0_depth_gain` : Frame 0 depth gain value setting, not in AE mode.
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* `laser_index0_ir_brightness` : Frame 0 ir gain value setting.
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* `laser_index0_ir_ae_max_exposure` : Frame 0 ir maximum exposure value setting in AE (auto exposure).
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## Run the launch
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Setting the interleave_ae parameter,`colcon build` again and run launch
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py
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```
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**Example Visualization **
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## Multi_camera_synced + Interleave_ae
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Please refer to [multi_camera_synced](../multi_camera_synced/README.MD) and [Parameter Introduction](#parameter-introduction)
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