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<title>6. Benchmark &mdash; 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">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<li class="toctree-l1 current"><a class="reference internal" href="../index.html">1. Camera Devices</a><ul class="current">
<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>
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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>
<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>
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<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>
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<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>
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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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; 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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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 current"><a class="current reference internal" href="#">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="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="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="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="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="benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="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="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="benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="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="benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="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="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="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="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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>
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<h1><span class="section-number">6. </span>Benchmark<a class="headerlink" href="#benchmark" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.6. </span>Benchmark<a class="headerlink" href="#benchmark" title="Link to this heading"></a></h1>
<p>This chapter introduces how to use the benchmark tool and provides test results for different cameras.</p>
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<li class="toctree-l1"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l2"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
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<li class="toctree-l2"><a class="reference internal" href="introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
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<li class="toctree-l1"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
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<li class="toctree-l1"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
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<li class="toctree-l1"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a></li>
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<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a></li>
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@@ -431,15 +431,15 @@
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<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-l1 current"><a class="reference internal" href="../index.html">1. Camera Devices</a><ul class="current">
<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/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>
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<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>
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<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>
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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>
<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>
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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>
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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>
</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>
<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>
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</li>
</ul>
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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 &amp; 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>
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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>
<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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; 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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">1.6. Benchmark</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="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="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="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="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="benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="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="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="benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="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 current"><a class="current reference internal" href="#">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="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="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="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="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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>
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<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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<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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<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>
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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>
<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>
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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>
<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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@@ -388,9 +388,9 @@
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<p>This section records the data of using the benchmark tool to test different cameras. Click the link to download the xlsx data.</p>
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<h2><span class="section-number">6.3.1. </span>Common Benckmark Data<a class="headerlink" href="#common-benckmark-data" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.6.3.1. </span>Common Benckmark Data<a class="headerlink" href="#common-benckmark-data" title="Link to this heading"></a></h2>
<p>Use the default launch file to run the <code class="docutils literal notranslate"><span class="pre">common_benchmark_node</span></code> and test for 1 hour of data.</p>
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<h2><span class="section-number">6.3.2. </span>Service Benchmark Data<a class="headerlink" href="#service-benchmark-data" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.6.3.2. </span>Service Benchmark Data<a class="headerlink" href="#service-benchmark-data" title="Link to this heading"></a></h2>
<p>Use the default launch file to run the <code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> and <code class="docutils literal notranslate"><span class="pre">service_benchmark_node.py</span></code> separately. Each service is called 10 times, and the data is recorded.</p>
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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>
</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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; 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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">1.6. Benchmark</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="#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="benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="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="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="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="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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>
@@ -388,9 +388,9 @@
<div role="navigation" aria-label="Page navigation">
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<li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
<li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
<li class="breadcrumb-item active"><span class="section-number">6.2. </span>Benchmark Usage</li>
<li class="breadcrumb-item"><a href="../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
<li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">1.6. </span>Benchmark</a></li>
<li class="breadcrumb-item active"><span class="section-number">1.6.2. </span>Benchmark Usage</li>
<li class="wy-breadcrumbs-aside">
<a href="../../../_sources/source/camera_devices/6_benchmark/benchmark_usage.md.txt" rel="nofollow"> View page source</a>
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@@ -401,10 +401,10 @@
<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="benchmark-usage">
<h1><span class="section-number">6.2. </span>Benchmark Usage<a class="headerlink" href="#benchmark-usage" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.6.2. </span>Benchmark Usage<a class="headerlink" href="#benchmark-usage" title="Link to this heading"></a></h1>
<p>This section introduces how to use the benchmark tool in C++ and Python, and provides an example YAML configuration file.</p>
<section id="using-common-benchmark-node">
<h2><span class="section-number">6.2.1. </span>Using common benchmark node<a class="headerlink" href="#using-common-benchmark-node" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.6.2.1. </span>Using common benchmark node<a class="headerlink" href="#using-common-benchmark-node" title="Link to this heading"></a></h2>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">common_benchmark_node</span><span class="o">.</span><span class="n">py</span> \
    <span class="o">--</span><span class="n">run_time</span> <span class="mi">2</span><span class="n">h</span> \
    <span class="o">--</span><span class="n">csv_file</span> <span class="o">/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">log</span><span class="o">.</span><span class="n">csv</span>
@@ -420,9 +420,9 @@
</ul>
</section>
<section id="using-service-benchmark-node">
<h2><span class="section-number">6.2.2. </span>Using service benchmark node<a class="headerlink" href="#using-service-benchmark-node" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.6.2.2. </span>Using service benchmark node<a class="headerlink" href="#using-service-benchmark-node" title="Link to this heading"></a></h2>
<section id="ros2-c">
<h3><span class="section-number">6.2.2.1. </span>ROS2 C++<a class="headerlink" href="#ros2-c" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.6.2.2.1. </span>ROS2 C++<a class="headerlink" href="#ros2-c" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong>Single service benchmark</strong></p></li>
</ul>
@@ -443,7 +443,7 @@
</div>
</section>
<section id="ros2-python">
<h3><span class="section-number">6.2.2.2. </span>ROS2 Python<a class="headerlink" href="#ros2-python" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.6.2.2.2. </span>ROS2 Python<a class="headerlink" href="#ros2-python" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong>Single service benchmark</strong></p></li>
</ul>
@@ -458,7 +458,7 @@
</div>
</section>
<section id="example-yaml-configuration">
<h3><span class="section-number">6.2.2.3. </span><strong>Example YAML configuration</strong><a class="headerlink" href="#example-yaml-configuration" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.6.2.2.3. </span><strong>Example YAML configuration</strong><a class="headerlink" href="#example-yaml-configuration" title="Link to this heading"></a></h3>
<p>We provide an example YAML configuration, located in the <code class="docutils literal notranslate"><span class="pre">scripts</span></code> directory as <code class="docutils literal notranslate"><span class="pre">service_default.yaml</span></code>.</p>
<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">default_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">50</span>
@@ -527,15 +527,15 @@
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<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<li class="toctree-l1 current"><a class="reference internal" href="../index.html">1. Camera Devices</a><ul class="current">
<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>
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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>
<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>
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<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>
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<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>
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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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; 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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
<li class="toctree-l3 current"><a class="current reference internal" href="#">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">1.6. Benchmark</a><ul class="current">
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="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="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="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="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="benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="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="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="benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="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="benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="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="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="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="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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>
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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>
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@@ -388,9 +388,9 @@
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<h1><span class="section-number">6.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.6.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h1>
<p>This section introduces the benchmark tool, explaining its purpose, features, and what it can help you measure.</p>
<section id="common-benchmark-node">
<h2><span class="section-number">6.1.1. </span>common benchmark node<a class="headerlink" href="#common-benchmark-node" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.6.1.1. </span>common benchmark node<a class="headerlink" href="#common-benchmark-node" title="Link to this heading"></a></h2>
<p><code class="docutils literal notranslate"><span class="pre">common_benchmark_node.py</span></code> is a tool for monitoring the performance of Orbbec cameras running in a ROS environment. It collects and records key camera metrics such as frame rate, latency, system resource usage, and packet loss rate in real time, helping users evaluate the stability and performance of camera nodes (updated once per second).</p>
<p><strong>Features</strong></p>
<ul class="simple">
@@ -420,7 +420,7 @@
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<section id="service-benchmark-node">
<h2><span class="section-number">6.1.2. </span>service benchmark node<a class="headerlink" href="#service-benchmark-node" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.6.1.2. </span>service benchmark node<a class="headerlink" href="#service-benchmark-node" title="Link to this heading"></a></h2>
<p>The <code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> tool is used to monitor the performance of service calls. It can measure the success rate of service calls and the time required to execute service.</p>
<p><strong>Features</strong></p>
<ul class="simple">
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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-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#binary-installation">1.2.4.1. Binary Installation</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-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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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>
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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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<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>
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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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<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>
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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-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
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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#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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; 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 &amp; 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 &amp; 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 &amp; 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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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="../5_advanced_guide/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/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="../5_advanced_guide/configuration/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 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">1.6. Benchmark</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="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="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="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="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="benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="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="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="benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="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="benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#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="#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="#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="#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#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="#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="#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="#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>
@@ -388,9 +388,9 @@
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<li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
<li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
<li class="breadcrumb-item active"><span class="section-number">6.4. </span>Other Tools</li>
<li class="breadcrumb-item"><a href="../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
<li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">1.6. </span>Benchmark</a></li>
<li class="breadcrumb-item active"><span class="section-number">1.6.4. </span>Other Tools</li>
<li class="wy-breadcrumbs-aside">
<a href="../../../_sources/source/camera_devices/6_benchmark/othertools.md.txt" rel="nofollow"> View page source</a>
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@@ -401,15 +401,15 @@
<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="other-tools">
<h1><span class="section-number">6.4. </span>Other Tools<a class="headerlink" href="#other-tools" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.6.4. </span>Other Tools<a class="headerlink" href="#other-tools" title="Link to this heading"></a></h1>
<section id="ob-benchmark-tool">
<h2><span class="section-number">6.4.1. </span>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.6.4.1. </span>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h2>
<blockquote>
<div><p>The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble)</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="tool-configuration-start-benchmark-params-json">
<h3><span class="section-number">6.4.1.1. </span>Tool Configuration (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#tool-configuration-start-benchmark-params-json" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.6.4.1.1. </span>Tool Configuration (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#tool-configuration-start-benchmark-params-json" title="Link to this heading"></a></h3>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;start_benchmark_params&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;camera_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
@@ -435,11 +435,11 @@
</ul>
</section>
<section id="camera-configuration-launch-files">
<h3><span class="section-number">6.4.1.2. </span>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.6.4.1.2. </span>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h3>
<p>In the launch folder, there are multiple.launch.py files (<code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code>, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code>, …, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_19.launch.py</span></code>). Each file corresponds to a different camera configuration.</p>
</section>
<section id="running-the-ob-benchmark-tool">
<h3><span class="section-number">6.4.1.3. </span>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.6.4.1.3. </span>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h3>
<p>To run the tool, use the following commands:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>ob_benchmark_node
@@ -447,7 +447,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
</div>
</section>
<section id="output-data-files">
<h3><span class="section-number">6.4.1.4. </span>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.6.4.1.4. </span>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h3>
<p>The output data files will be stored in the ob_benchmark folder with filenames like <code class="docutils literal notranslate"><span class="pre">0.csv</span></code>, <code class="docutils literal notranslate"><span class="pre">1.csv</span></code>, …, 19.csv. For example:</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">0.csv</span></code> contains data from the <code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code> configuration.</p></li>
@@ -461,15 +461,15 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
</div>
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<span class="lastupdated">Last updated on 2026-01-04 01:19:52.
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