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<title>5.3.1. Aligning Depth to Color in ROS 2 — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1.1. Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1.1. Introduction</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.1.3. Support Platforms</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
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||||
</ul>
|
||||
</li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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||||
<li class="toctree-l5"><a class="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>
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||||
<li class="toctree-l5"><a class="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>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
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</ul>
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||||
</li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
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||||
</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core & Stream Configuration</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic & General Parameters</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware & Backend</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics & Calibration</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging & Diagnostics</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
|
||||
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|
||||
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|
||||
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|
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|
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<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
|
||||
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
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||||
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
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||||
</ul>
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||||
</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
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||||
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="aligning-depth-to-color-in-ros-2">
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<h1><span class="section-number">5.3.1. </span>Aligning Depth to Color in ROS 2<a class="headerlink" href="#aligning-depth-to-color-in-ros-2" title="Link to this heading"></a></h1>
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||||
<h1><span class="section-number">1.5.3.1. </span>Aligning Depth to Color in ROS 2<a class="headerlink" href="#aligning-depth-to-color-in-ros-2" title="Link to this heading"></a></h1>
|
||||
<p>This section explains how to align depth images with color images to create an overlay image using ROS 2. This is particularly useful for applications requiring synchronized visual information from different sensor modalities.</p>
|
||||
<section id="commands-to-align-and-view-depth-and-color-images">
|
||||
<h2><span class="section-number">5.3.1.1. </span>Commands to Align and View Depth and Color Images<a class="headerlink" href="#commands-to-align-and-view-depth-and-color-images" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.1.1. </span>Commands to Align and View Depth and Color Images<a class="headerlink" href="#commands-to-align-and-view-depth-and-color-images" title="Link to this heading"></a></h2>
|
||||
<ol>
|
||||
<li><p><strong>Basic Depth to Color Alignment:</strong></p>
|
||||
<p>To simply align the depth image to the color image, use the following command:</p>
|
||||
@@ -423,7 +423,7 @@
|
||||
</ol>
|
||||
</section>
|
||||
<section id="selecting-topics-in-rviz2">
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||||
<h2><span class="section-number">5.3.1.2. </span>Selecting Topics in RViz2<a class="headerlink" href="#selecting-topics-in-rviz2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.1.2. </span>Selecting Topics in RViz2<a class="headerlink" href="#selecting-topics-in-rviz2" title="Link to this heading"></a></h2>
|
||||
<p>To visualize the aligned images in RViz2:</p>
|
||||
<ol>
|
||||
<li><p>Launch RViz2 after running one of the above commands.</p></li>
|
||||
@@ -433,7 +433,7 @@
|
||||
</ol>
|
||||
</section>
|
||||
<section id="example-of-depth-to-color-overlay">
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||||
<h2><span class="section-number">5.3.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
|
||||
<p>After selecting the appropriate topic in RViz2, you will be able to see the depth to color overlay image. Here’s what it might look like:</p>
|
||||
<p><img alt="Depth to Color Overlay Image" src="../../../../_images/image4.jpg" /></p>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
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||||
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
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<h1><span class="section-number">5.3.2. </span>Configuration of depth NFOV and WFOV modes<a class="headerlink" href="#configuration-of-depth-nfov-and-wfov-modes" title="Link to this heading"></a></h1>
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<h1><span class="section-number">1.5.3.2. </span>Configuration of depth NFOV and WFOV modes<a class="headerlink" href="#configuration-of-depth-nfov-and-wfov-modes" title="Link to this heading"></a></h1>
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<p>For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of
|
||||
Depth and IR in the launch file.
|
||||
In launch file, depth_width, depth_height, ir_width, ir_height represents the resolution of the depth and the resolution of
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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<li class="toctree-l5"><a class="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>
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<li class="toctree-l5"><a class="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>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
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</ul>
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
|
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<li class="breadcrumb-item active"><span class="section-number">1.5.3.3. </span>Depth work mode switch</li>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="depth-work-mode-switch">
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<h1><span class="section-number">5.3.3. </span>Depth work mode switch<a class="headerlink" href="#depth-work-mode-switch" title="Link to this heading"></a></h1>
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<h1><span class="section-number">1.5.3.3. </span>Depth work mode switch<a class="headerlink" href="#depth-work-mode-switch" title="Link to this heading"></a></h1>
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||||
<p>Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L,
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||||
and Femto and Femto Bolt cameras.</p>
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@@ -438,15 +438,15 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
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<span class="lastupdated">Last updated on 2026-01-04 01:19:52.
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1.1. Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1.1. Introduction</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.1.3. Support Platforms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
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||||
</ul>
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||||
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#function-introduction">1.5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">1.5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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||||
@@ -388,9 +388,9 @@
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<div role="navigation" aria-label="Page navigation">
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<ul class="wy-breadcrumbs">
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<li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">5.3.4. </span>Disparity_search_offset</li>
|
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<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">1.5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">1.5.3.4. </span>Disparity_search_offset</li>
|
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<li class="wy-breadcrumbs-aside">
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt" rel="nofollow"> View page source</a>
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||||
</li>
|
||||
@@ -401,17 +401,17 @@
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="disparity-search-offset">
|
||||
<h1><span class="section-number">5.3.4. </span>Disparity_search_offset<a class="headerlink" href="#disparity-search-offset" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.3.4. </span>Disparity_search_offset<a class="headerlink" href="#disparity-search-offset" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use the disparity_search_offset function in the Gemini330 series cameras (minimum camera firmware version <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>).Disparity_search_offset is effective only for1280×720, 1280×800 and 640×400 resolutions of depth stream.</p>
|
||||
</div></blockquote>
|
||||
<section id="function-introduction">
|
||||
<h2><span class="section-number">5.3.4.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.4.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
|
||||
<p>The definition of disparity search range: For any pixel <em>(u_l, v)</em> in the left image, by default, the corresponding disparity search range in the right image is <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>, where the disparity search length is 256 and the maximum integer disparity is 255. If the starting point of the search is adjusted to <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>, the offset is defined as the disparity shift. Therefore, our disparity search range configuration includes both the disparity search length and the search position offset (which can also be referred to as the disparity shift).</p>
|
||||
<p><img alt="Depth Point Cloud Visualization" src="../../../../_images/search_offset0.png" /></p>
|
||||
</section>
|
||||
<section id="parameter-introduction">
|
||||
<h2><span class="section-number">5.3.4.2. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.4.2. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<p>The disparity_search_offset related parameters are set in <a class="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>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code> : Disparity search length,can only be set to 64, 128 and 256.</p></li>
|
||||
@@ -487,7 +487,7 @@
|
||||
</tbody>
|
||||
</table></section>
|
||||
<section id="run-the-launch">
|
||||
<h2><span class="section-number">5.3.4.3. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.4.3. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<p>Setting the disparity_search_offset parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
|
||||
</pre></div>
|
||||
@@ -499,15 +499,15 @@
|
||||
</div>
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</div>
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||||
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
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<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
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</li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
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||||
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||||
</ul>
|
||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">1.5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
|
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</ul>
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@@ -388,9 +388,9 @@
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.5. </span>Using interleave_ae with Gemini330 series cameras</li>
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<li class="breadcrumb-item active"><span class="section-number">1.5.3.5. </span>Using interleave_ae with Gemini330 series cameras</li>
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@@ -401,12 +401,12 @@
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<div itemprop="articleBody">
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="using-interleave-ae-with-gemini330-series-cameras">
|
||||
<h1><span class="section-number">5.3.5. </span>Using interleave_ae with Gemini330 series cameras<a class="headerlink" href="#using-interleave-ae-with-gemini330-series-cameras" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.3.5. </span>Using interleave_ae with Gemini330 series cameras<a class="headerlink" href="#using-interleave-ae-with-gemini330-series-cameras" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use interleave_ae in Gemini 330 series cameras (minimum camera firmware version <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.00</a>)</p>
|
||||
</div></blockquote>
|
||||
<section id="parameter-introduction">
|
||||
<h2><span class="section-number">5.3.5.1. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.5.1. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<p>The interleave_ae related parameters are set in <a class="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>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> : Set laser or hdr interleave.</p></li>
|
||||
@@ -444,7 +444,7 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="run-the-launch">
|
||||
<h2><span class="section-number">5.3.5.2. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.5.2. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<p>Setting the interleave_ae parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
|
||||
</pre></div>
|
||||
@@ -454,7 +454,7 @@
|
||||
<p><img alt="Depth Point Cloud Visualization" src="../../../../_images/interleave_ae1.jpeg" /></p>
|
||||
</section>
|
||||
<section id="multi-camera-synced-interleave-ae">
|
||||
<h2><span class="section-number">5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
|
||||
<p>Please refer to <a class="reference external" href="./multi_camera_synced">multi_camera_synced</a> and <a class="reference external" href="#parameter-introduction">Parameter Introduction</a></p>
|
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</section>
|
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2026-01-04 01:19:52.
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1.1. Overview</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#force-ip-function">5.3.7.3. Force IP Function</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
|
||||
</ul>
|
||||
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|
||||
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|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
|
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</ul>
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@@ -388,9 +388,9 @@
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="net-camera">
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<h1><span class="section-number">5.3.7. </span>Net_camera<a class="headerlink" href="#net-camera" title="Link to this heading"></a></h1>
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<h1><span class="section-number">1.5.3.7. </span>Net_camera<a class="headerlink" href="#net-camera" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use Net camera in OrbbecSDK_ROS2.Currently, only Femto_Mega, Gemini 335Le and Gemini 435Le devices are supported, and other Net devices will be supported in the near future.</p>
|
||||
</div></blockquote>
|
||||
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
|
||||
<section id="femto-mega-gemini-435le-gemini-335le">
|
||||
<h2><span class="section-number">5.3.7.1. </span>Femto Mega & Gemini 435Le & Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.7.1. </span>Femto Mega & Gemini 435Le & Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
|
||||
<p><strong>Parameter Introduction</strong></p>
|
||||
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> is set to true, which will automatically enumerate network devices.</p>
|
||||
<p>If you do not want to automatically enumerate network devices,you can set <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> to false, <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the device’s IP address, and <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
|
||||
@@ -441,7 +441,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="set-device-ip-utility">
|
||||
<h2><span class="section-number">5.3.7.2. </span>set_device_ip Utility<a class="headerlink" href="#set-device-ip-utility" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.7.2. </span>set_device_ip Utility<a class="headerlink" href="#set-device-ip-utility" title="Link to this heading"></a></h2>
|
||||
<p>The <strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> executable allows you to configure the IP settings of a network camera directly from ROS 2, including switching between DHCP and static IP, and setting subnet mask and gateway. This is useful for quickly assigning or updating IP addresses without modifying launch files.</p>
|
||||
<blockquote>
|
||||
<div><p><strong>Note:</strong> The IP settings applied with <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> are <strong>permanent</strong> and <strong>will not be reset</strong> if the device is powered off or restarted.</p>
|
||||
@@ -465,7 +465,7 @@
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||||
</ul>
|
||||
</section>
|
||||
<section id="force-ip-function">
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||||
<h2><span class="section-number">5.3.7.3. </span>Force IP Function<a class="headerlink" href="#force-ip-function" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.7.3. </span>Force IP Function<a class="headerlink" href="#force-ip-function" title="Link to this heading"></a></h2>
|
||||
<p>The <strong>Force IP</strong> feature allows you to assign a <strong>static IP address</strong> to a network camera, overriding DHCP settings. This is useful when multiple network cameras are connected, and you need each device to have a fixed IP for reliable communication.</p>
|
||||
<blockquote>
|
||||
<div><p><strong>Note:</strong> The Force IP configuration <strong>will be reset if the device is powered off or restarted</strong>. You need to reapply the settings after reboot.</p>
|
||||
@@ -502,15 +502,15 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
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<span class="lastupdated">Last updated on 2026-01-04 01:19:52.
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture & Calibration Management</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="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>
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
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||||
</ul>
|
||||
</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
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</ul>
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@@ -388,9 +388,9 @@
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<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
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<h1><span class="section-number">5.3.6. </span>Predefined presets<a class="headerlink" href="#predefined-presets" title="Link to this heading"></a></h1>
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<h1><span class="section-number">1.5.3.6. </span>Predefined presets<a class="headerlink" href="#predefined-presets" title="Link to this heading"></a></h1>
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