mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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deploy: orbbec/OrbbecSDK_ROS2@bff88b0eb2
This commit is contained in:
obshenlanzhou
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/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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@@ -86,7 +86,7 @@
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||||
</li>
|
||||
</ul>
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||||
</li>
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<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -147,7 +147,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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@@ -167,60 +167,82 @@
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/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-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -243,32 +265,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -348,7 +355,7 @@ make<span class="w"> </span>html
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
# OrbbecViewer tutorial
|
||||
# OrbbecViewer QuickStarts
|
||||
|
||||
## Download
|
||||
|
||||
@@ -28,18 +28,16 @@ Click the icon at the bottom left corner of the window to view the current camer
|
||||
|
||||
Please refer to the list below for the latest camera firmware. [For more information, please click here.](https://www.orbbec.com/docs/g330-explore-camera-functions-in-orbbec-viewer/)
|
||||
|
||||
|
||||
|
||||
**Repository link：**[Firmware Download](https://github.com/orbbec/OrbbecFirmware?tab=readme-ov-file#firmware-download)
|
||||
|
||||
| **Products list** | **Download link** | Latest version |
|
||||
| ----------------- | ---------------------------------------------------------------------------------------------------- | -------------- |
|
||||
| Femto Bolt | [Femto Bolt Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | v1.1.2 |
|
||||
| Femto Mega | [Femto Mega Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | v1.3.1 |
|
||||
| Gemini 2 | [Gemini 2 Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | v1.4.98 |
|
||||
| Gemini 2 L | [Gemini 2L Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | v1.5.02 |
|
||||
| Femto Mega I | [Femto Mega I Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | v2.0.4 |
|
||||
| Gemini 330 series | [Gemini 330 series Firmware](https://www.orbbec.com/docs/g330-firmware-release/?_gl=1) | |
|
||||
| Gemini 215 | [Gemini 215](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | v1.0.9 |
|
||||
| Gemini 210 | [Gemini 210](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | v1.0.9 |
|
||||
| Gemini 435Le | [Gemini 435Le](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | v1.3.2 |
|
||||
| **Products list** | **Download link** | Latest version |
|
||||
| ----------------------- | ------------------------------------------------------------------------------------------------- | -------------- |
|
||||
| Femto Bolt | [Femto Bolt Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | v1.1.2 |
|
||||
| Femto Mega | [Femto Mega Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | v1.3.1 |
|
||||
| Gemini 2 | [Gemini 2 Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | v1.4.98 |
|
||||
| Gemini 2 L | [Gemini 2L Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | v1.5.02 |
|
||||
| Femto Mega I | [Femto Mega I Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | v2.0.4 |
|
||||
| Gemini 330 series | [Gemini 330 series Firmware](https://www.orbbec.com/docs/g330-firmware-release/?_gl=1) | |
|
||||
| Gemini 215 | [Gemini 215](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | v1.0.9 |
|
||||
| Gemini 210 | [Gemini 210](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | v1.0.9 |
|
||||
| Gemini 435Le | [Gemini 435Le](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | v1.3.2 |
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
## QuickStarts
|
||||
## ROS Package QuickStarts
|
||||
|
||||
### Introduction
|
||||
|
||||
@@ -89,4 +89,3 @@ ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '
|
||||
```bash
|
||||
ros2 bag record /camera/color/image_raw /camera/depth/image_raw
|
||||
```
|
||||
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
### ROS2(Robot) vs Optical(Camera) Coordination Systems
|
||||
### ROS2 Robot vs Camera Optical Coordination Systems
|
||||
|
||||
* Point Of View:
|
||||
* Imagine we are standing behind of the camera, and looking forward.
|
||||
|
||||
@@ -4,6 +4,18 @@ Advanced Guide
|
||||
This chapter covers advanced features of the SDK, including multi-camera usage, and special configuration modes.
|
||||
|
||||
|
||||
|
||||
Performance & Optimization
|
||||
------------------------------------------------------
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
performance/lower_cpu_usage.md
|
||||
performance/efficient_intra_process_communication.md
|
||||
performance/fastdds_tuning.md
|
||||
|
||||
|
||||
Multi-Camera
|
||||
------------------------------------------------------
|
||||
|
||||
|
||||
@@ -9,4 +9,4 @@ This chapter introduces how to use the benchmark tool and provides test results
|
||||
introduction.md
|
||||
benchmark_usage.md
|
||||
benchmark_data.md
|
||||
performance.md
|
||||
othertools.md
|
||||
@@ -1,6 +1,19 @@
|
||||
# Benchmark Data
|
||||
|
||||
This section records the data of using the benchmark tool to test different cameras
|
||||
This section records the data of using the benchmark tool to test different cameras. Click the link to download the xlsx data.
|
||||
|
||||
|
||||
## Common Benckmark Data
|
||||
|
||||
Use the default launch file to run the `common_benchmark_node` and test for 1 hour of data.
|
||||
|
||||
- [Common Benchmark Data](../../_static/ros2_common_benchmark_data.xlsx)
|
||||
|
||||
|
||||
## Service Benchmark Data
|
||||
|
||||
Use the default launch file to run the `service_benchmark_node` and `service_benchmark_node.py` separately. Each service is called 10 times, and the data is recorded.
|
||||
|
||||
- [Service Benchmark Data cpp](../../_static/ros2_service_benchmark_cpp.xlsx)
|
||||
- [Service Benchmark Data python](../../_static/ros2_service_benchmark_python.xlsx)
|
||||
|
||||
- [ROS2 Service Benchmark Data cpp](../service_benchmark_data/ros2_service_benchmark_cpp.xlsx)
|
||||
- [ROS2 Service Benchmark Data python](../service_benchmark_data/ros2_service_benchmark_python.xlsx)
|
||||
+11
-10
@@ -1,4 +1,6 @@
|
||||
# Ob_benchmark tool
|
||||
# Other Tools
|
||||
|
||||
## Ob_benchmark tool
|
||||
|
||||
> 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)
|
||||
|
||||
@@ -21,18 +23,17 @@ You can find example usage code in the [example](https://github.com/orbbec/Orbbe
|
||||
"skip_number": 30
|
||||
}
|
||||
}
|
||||
|
||||
```
|
||||
|
||||
* `camera_name`: Names of the cameras to be configured. Example: `"camera_01"`, `"camera_02"`, etc.
|
||||
* `process_name`: The name of the process to be monitored. For example, `"component_conta"` will monitor the data of the container process.
|
||||
* `switch_cycle`: The cycle time for switching configurations, in seconds. For example, setting it to `300` means the configuration will switch every 300 seconds.
|
||||
* `test_cycle`: The testing cycle, in seconds. For example, setting it to `1` means the tool will collect data for the monitored process every 1 second.
|
||||
* `skip_number`: The number of data points to skip. For example, setting it to `30` means that the first 30 data points will be ignored.
|
||||
- `camera_name`: Names of the cameras to be configured. Example: `"camera_01"`, `"camera_02"`, etc.
|
||||
- `process_name`: The name of the process to be monitored. For example, `"component_conta"` will monitor the data of the container process.
|
||||
- `switch_cycle`: The cycle time for switching configurations, in seconds. For example, setting it to `300` means the configuration will switch every 300 seconds.
|
||||
- `test_cycle`: The testing cycle, in seconds. For example, setting it to `1` means the tool will collect data for the monitored process every 1 second.
|
||||
- `skip_number`: The number of data points to skip. For example, setting it to `30` means that the first 30 data points will be ignored.
|
||||
|
||||
### Camera configuration (launch files)
|
||||
|
||||
In the launch folder, there are multiple\.launch.py files (`ob_benchmark_0.launch.py`, `ob_benchmark_1.launch.py`, ..., `ob_benchmark_19.launch.py`). Each file corresponds to a different camera configuration.
|
||||
In the launch folder, there are multiple.launch.py files (`ob_benchmark_0.launch.py`, `ob_benchmark_1.launch.py`, ..., `ob_benchmark_19.launch.py`). Each file corresponds to a different camera configuration.
|
||||
|
||||
### Running the ob_benchmark tool
|
||||
|
||||
@@ -47,5 +48,5 @@ ros2 run orbbec_camera ob_benchmark_node
|
||||
|
||||
The output data files will be stored in the ob_benchmark folder with filenames like `0.csv`, `1.csv`, ..., 19.csv. For example:
|
||||
|
||||
* `0.csv` contains data from the `ob_benchmark_0.launch.py` configuration.
|
||||
* `1.csv` contains data from the `ob_benchmark_1.launch.py` configuration.
|
||||
- `0.csv` contains data from the `ob_benchmark_0.launch.py` configuration.
|
||||
- `1.csv` contains data from the `ob_benchmark_1.launch.py` configuration.
|
||||
@@ -1,334 +0,0 @@
|
||||
# Performance & Optimization
|
||||
|
||||
## Ob_benchmark tool
|
||||
|
||||
> 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)
|
||||
|
||||
You can find example usage code in the [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples).
|
||||
|
||||
### Tool Configuration ([start_benchmark_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json))
|
||||
|
||||
```json
|
||||
{
|
||||
"start_benchmark_params": {
|
||||
"camera_name": [
|
||||
"camera_01",
|
||||
"camera_02",
|
||||
"camera_03",
|
||||
"camera_04"
|
||||
],
|
||||
"process_name": "component_conta",
|
||||
"switch_cycle": 300,
|
||||
"test_cycle": 1,
|
||||
"skip_number": 30
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
- `camera_name`: Names of the cameras to be configured. Example: `"camera_01"`, `"camera_02"`, etc.
|
||||
- `process_name`: The name of the process to be monitored. For example, `"component_conta"` will monitor the data of the container process.
|
||||
- `switch_cycle`: The cycle time for switching configurations, in seconds. For example, setting it to `300` means the configuration will switch every 300 seconds.
|
||||
- `test_cycle`: The testing cycle, in seconds. For example, setting it to `1` means the tool will collect data for the monitored process every 1 second.
|
||||
- `skip_number`: The number of data points to skip. For example, setting it to `30` means that the first 30 data points will be ignored.
|
||||
|
||||
### Camera configuration (launch files)
|
||||
|
||||
In the launch folder, there are multiple.launch.py files (`ob_benchmark_0.launch.py`, `ob_benchmark_1.launch.py`, ..., `ob_benchmark_19.launch.py`). Each file corresponds to a different camera configuration.
|
||||
|
||||
### Running the ob_benchmark tool
|
||||
|
||||
To run the tool, use the following commands:
|
||||
|
||||
```bash
|
||||
source install/setup.bash
|
||||
ros2 run orbbec_camera ob_benchmark_node
|
||||
```
|
||||
|
||||
### Output Data Files
|
||||
|
||||
The output data files will be stored in the ob_benchmark folder with filenames like `0.csv`, `1.csv`, ..., 19.csv. For example:
|
||||
|
||||
- `0.csv` contains data from the `ob_benchmark_0.launch.py` configuration.
|
||||
- `1.csv` contains data from the `ob_benchmark_1.launch.py` configuration.
|
||||
|
||||
## Reducing CPU Usage with Orbbec ROS Package
|
||||
|
||||
You can find example usage code in the [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples).
|
||||
|
||||
This document outlines strategies for minimizing CPU usage in the **OrbbecSDK_ROS2 v2** environment when using **Gemini 330 series cameras**. The firmware version must be **no lower than 1.4.10**, and `device` should be set to **Default**.
|
||||
|
||||
### Recommended Settings for Lower CPU Usage
|
||||
|
||||
To achieve the lowest possible CPU usage in OrbbecSDK_ROS2, it is recommended to configure the following parameters.
|
||||
|
||||
| Parameter | Recommendation | Note |
|
||||
| ---------------- | -------------------------------------- | ---------------------------------------------- |
|
||||
| `uvc_backend` | `v4l2` | Lower CPU usage compared to `libuvc` |
|
||||
| `color_format` | `RGB` | Lower CPU usage than `MJPG` |
|
||||
| `filter` | Only `hardware_noise_removal_filter` | Other filters significantly increase CPU usage |
|
||||
|
||||
### Launch Files Used for Testing
|
||||
|
||||
- `gemini_330_series_lower_cpu_usage.launch.py`
|
||||
- `multi_camera_lower_cpu_usage.launch.py`
|
||||
|
||||
### Test environment
|
||||
|
||||
**Hardware Configuration**
|
||||
|
||||
- **CPU**: Intel i7-8700 @ 3.20GHz
|
||||
- **Memory**: 24 GB
|
||||
- **Storage**: Micron 2200S NVMe 256GB
|
||||
- **GPU**: NVIDIA GeForce GTX 1660Ti
|
||||
- **OS**: Ubuntu22.04
|
||||
|
||||
**ROS Configuration**
|
||||
|
||||
- **ROS Version**: ROS2 Humble
|
||||
- **SDK Version**: OrbbecSDK_ROS2 v2.2.1
|
||||
|
||||
**Camera Setup**
|
||||
|
||||
- Devices: 2x Gemini 335, 1x Gemini 336, 1x Gemini 336L
|
||||
- Firmware Version: 1.4.10
|
||||
|
||||
### Test Setup
|
||||
|
||||
**Stream Settings:**
|
||||
|
||||
- Depth / IR Left / IR Right: 848×480 @ 30fps
|
||||
- Color: 848×480 @ 30fps
|
||||
|
||||
Note: The following CPU usage data focuses on `uvc_backend`, `color_format` and various filter combinations.
|
||||
|
||||
### Test Results
|
||||
|
||||
**`uvc_backend` Comparison (RGB format)**
|
||||
|
||||
| libuvc CPU Usage | v4l2 CPU Usage | Absolute Change |
|
||||
| ---------------- | -------------- | --------------- |
|
||||
| 182.8% | 118.8% | -64.0% |
|
||||
|
||||
The CPU usage can be significantly reduced with v4l2 backend. In our implementation, v4l2 works without requiring any patches to the Linux kernel, allowing users to easily switch between v4l2 and libuvc and maintaining full compatibility with standard Linux distributions.
|
||||
|
||||
**`color_format` Comparison (MJPG vs RGB)**
|
||||
|
||||
| Backend | MJPG CPU Usage | RGB CPU Usage | Absolute Change |
|
||||
| ------- | -------------- | ------------- | --------------- |
|
||||
| libuvc | 347.7% | 182.8% | -164.9% |
|
||||
| v4l2 | 170.0% | 118.8% | -51.2% |
|
||||
|
||||
The CPU usage can be reduced if the RGB format is selected instead of MJPG, since the decoding of MJPG image will consume the host CPU resource.
|
||||
|
||||
**Filter Configuration Impact**
|
||||
|
||||
| Filters Applied | libuvc CPU Usage | CPU Usage Increase | v4l2 CPU Usage | CPU Usage Increase |
|
||||
| ----------------------------------------------------- | ---------------- | ------------------ | -------------- | ------------------ |
|
||||
| No Filter (benchmark) | 182.8% | 0.0%(benchmark) | 118.8% | 0.0%(benchmark) |
|
||||
| `(software)noise_removal_filter` | 218.0% | +35.2% | 128.5% | +9.7% |
|
||||
| `(software)noise_removal_filter + spatial_filter` | 469.6% | +286.8% | 336.7% | +217.9% |
|
||||
| `hardware_noise_removal_filter` | 186.3% | +3.5% | 115.4% | -3.4% |
|
||||
| `hardware_noise_removal_filter + spatial_filter` | 251.3% | +68.5% | 152.5% | +33.7% |
|
||||
|
||||
Based on the test results, using only the `hardware_noise_removal_filter` results in a negligible change in CPU usage for both `libuvc` (+3.5%) and `v4l2` (-3.4%) compared to the no-filter benchmark, as this filter runs internally on the camera hardware. In contrast, other filters execute on the host system. Adding the `spatial_filter` to the hardware filter leads to a moderate increase in CPU usage, while applying the software-based `noise_removal_filter` —either alone or combined with `spatial_filter` —significantly increases CPU load. To maintain low CPU usage, it is recommended to avoid software-based filters and rely solely on the `hardware_noise_removal_filter`.
|
||||
|
||||
### Further Optimizationa
|
||||
|
||||
| Parameter | Recommendation | Note |
|
||||
| ------------------------------ | ------------------------------------------------ | ----------------------------------------------- |
|
||||
| `depth_registration` | `false` or `true` with `align_mode=HW` | Software alignment consumes more CPU |
|
||||
| `enable_point_cloud` | `false` | Disabling point cloud reduces CPU usage |
|
||||
| `enable_colored_point_cloud` | `false` | Disabling colored point cloud reduces CPU usage |
|
||||
|
||||
## Efficient intra-process communication
|
||||
|
||||
### Introduction
|
||||
|
||||
Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on image/pointcloud topics, especially with big frame resolutions and high FPS.
|
||||
|
||||
You will need to launch a component container and launch our node as a component together with other component nodes. Further details on "Composing multiple nodes in a single process" can be found [here](https://docs.ros.org/en/rolling/Tutorials/Composition.html).
|
||||
|
||||
Further details on efficient intra-process communication can be found [here](https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication).
|
||||
|
||||
### Example
|
||||
|
||||
**Manually loading multiple components into the same process**
|
||||
|
||||
- Start the component:
|
||||
|
||||
```bash
|
||||
ros2 run rclcpp_components component_container
|
||||
```
|
||||
- Add the wrapper:
|
||||
|
||||
```bash
|
||||
ros2 component load /ComponentManager orbbec_camera orbbec_camera::OBCameraNodeDriver -e use_intra_process_comms:=true
|
||||
```
|
||||
|
||||
Load other component nodes (consumers of the wrapper topics) in the same way.
|
||||
|
||||
**Using a launch file**
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera gemini_intra_process_demo_launch.py
|
||||
```
|
||||
|
||||
**Limitations**
|
||||
|
||||
- Node components are currently not supported on RCLPY
|
||||
- Compressed images using `image_transport` will be disabled as this isn't supported with intra-process communication
|
||||
|
||||
## Fast DDS Optimization for Orbbec Camera with ROS2
|
||||
|
||||
When operating with the default configuration, Fast DDS exhibits suboptimal transmission efficiency, resulting in
|
||||
significant image transmission delays when used with the Orbbec camera in ROS2. This document provides guidance on
|
||||
optimizing Fast DDS to enhance image transfer efficiency.
|
||||
|
||||
### Adjusting System Parameters
|
||||
|
||||
**IP Fragmentation Time**
|
||||
|
||||
- **Path**: `/proc/sys/net/ipv4/ipfrag_time` (default: 30 seconds)
|
||||
- **Purpose**: Defines the duration that IP fragments are kept in memory.
|
||||
- **Adjustment**: Decrease this value to reduce the time window where no fragments are received, which can help reduce
|
||||
delays. Consider the specific needs of your environment as this setting affects all incoming fragments.
|
||||
|
||||
**Example**: Set to 3 seconds.
|
||||
|
||||
```bash
|
||||
sudo sysctl net.ipv4.ipfrag_time=3
|
||||
```
|
||||
|
||||
**IP Fragmentation Memory Threshold**
|
||||
|
||||
- **Path**: `/proc/sys/net/ipv4/ipfrag_high_thresh` (default: 262144 bytes)
|
||||
- **Purpose**: Sets the maximum memory used to reassemble IP fragments.
|
||||
- **Adjustment**: Increase this value to allow more memory for fragment reassembly, which can improve handling of larger
|
||||
data packets.
|
||||
|
||||
**Example**: Increase to 128 MB.
|
||||
|
||||
```bash
|
||||
sudo sysctl net.ipv4.ipfrag_high_thresh=134217728
|
||||
```
|
||||
|
||||
**Maximum Buffer Sizes**
|
||||
|
||||
- **Purpose**: Configures the maximum buffer sizes for receiving and sending data, which is critical for high-throughput
|
||||
data transmission.
|
||||
- **Adjustment**: Set the maximum buffer sizes for both receiving and sending operations.
|
||||
|
||||
**Commands**:
|
||||
|
||||
```bash
|
||||
sudo sysctl -w net.core.rmem_max=2147483647
|
||||
sudo sysctl -w net.core.rmem_default=2147483647
|
||||
sudo sysctl -w net.core.wmem_max=2147483647
|
||||
sudo sysctl -w net.core.wmem_default=2147483647
|
||||
```
|
||||
|
||||
Alternatively, make these settings permanent by adding them to the `/etc/sysctl.d/10-fastrtps-max.conf` file.
|
||||
|
||||
```bash
|
||||
sudo gedit /etc/sysctl.d/10-fastrtps-max.conf
|
||||
```
|
||||
|
||||
add blow lines to the file:
|
||||
|
||||
```bash
|
||||
net.core.rmem_max=2147483647
|
||||
net.core.rmem_default=2147483647
|
||||
net.core.wmem_max=2147483647
|
||||
net.core.wmem_default=2147483647
|
||||
```
|
||||
|
||||
then save and exit the file. run `sudo sysctl -p` to apply the changes.
|
||||
|
||||
For detailed guidance, refer
|
||||
to [ROS 2 DDS Tuning Documentation](https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html).
|
||||
|
||||
### Fast DDS Configuration
|
||||
|
||||
Below is an example of a Fast DDS configuration file optimized for ROS2 usage with the Orbbec camera. This configuration
|
||||
enhances the overall data transmission by adjusting buffer sizes and transport settings.
|
||||
|
||||
**Configuration File:** `shm_fastdds.xml`
|
||||
|
||||
Place this file in the `$HOME` directory.
|
||||
|
||||
```xml
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
|
||||
<transport_descriptors>
|
||||
<transport_descriptor>
|
||||
<transport_id>UDP_transport</transport_id>
|
||||
<type>UDPv4</type>
|
||||
<maxInitialPeersRange>10</maxInitialPeersRange>
|
||||
<maxMessageSize>65000</maxMessageSize>
|
||||
<sendBufferSize>1048576</sendBufferSize>
|
||||
<receiveBufferSize>1048576</receiveBufferSize>
|
||||
</transport_descriptor>
|
||||
</transport_descriptors>
|
||||
<participant profile_name="participant_profile_ros2" is_default_profile="true">
|
||||
<rtps>
|
||||
<name>profile_for_ros2_context</name>
|
||||
<userTransports>
|
||||
<transport_id>UDP_transport</transport_id>
|
||||
</userTransports>
|
||||
<useBuiltinTransports>false</useBuiltinTransports>
|
||||
<sendSocketBufferSize>1048576</sendSocketBufferSize>
|
||||
<listenSocketBufferSize>1048576</listenSocketBufferSize>
|
||||
<builtin>
|
||||
<initialPeersList>
|
||||
<locator>
|
||||
<udpv4>
|
||||
<address>127.0.0.1</address>
|
||||
</udpv4>
|
||||
</locator>
|
||||
</initialPeersList>
|
||||
</builtin>
|
||||
</rtps>
|
||||
</participant>
|
||||
<data_writer profile_name="default publisher profile" is_default_profile="true">
|
||||
<qos>
|
||||
<publishMode>
|
||||
<kind>ASYNCHRONOUS</kind>
|
||||
</publishMode>
|
||||
<latencyBudget>
|
||||
<duration>
|
||||
<sec>0</sec>
|
||||
<nanosec>1000000</nanosec>
|
||||
</duration>
|
||||
</latencyBudget>
|
||||
</qos>
|
||||
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
|
||||
</data_writer>
|
||||
<data_reader profile_name="default subscription profile" is_default_profile="true">
|
||||
<qos>
|
||||
<data_sharing>
|
||||
<kind>AUTOMATIC</kind>
|
||||
</data_sharing>
|
||||
<latencyBudget>
|
||||
<duration>
|
||||
<sec>0</sec>
|
||||
<nanosec>1000000</nanosec>
|
||||
</duration>
|
||||
</latencyBudget>
|
||||
</qos>
|
||||
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
|
||||
</data_reader>
|
||||
</profiles>
|
||||
```
|
||||
|
||||
**Environment Variables**
|
||||
|
||||
Set the following environment variables to use the custom Fast DDS profile:
|
||||
|
||||
```bash
|
||||
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
|
||||
export FASTRTPS_DEFAULT_PROFILES_FILE=$HOME/shm_fastdds.xml
|
||||
export RMW_FASTRTPS_USE_QOS_FROM_XML=1
|
||||
```
|
||||
|
||||
This configuration aims to optimize the data flow and reduce transmission delays, improving the responsiveness and
|
||||
reliability of the Orbbec camera system in a ROS2 environment.
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
+75
-68
@@ -68,7 +68,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
@@ -85,7 +85,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -146,7 +146,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -166,60 +166,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/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-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -242,32 +264,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -331,7 +338,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+104
-90
@@ -70,7 +70,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
@@ -87,7 +87,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -148,7 +148,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -168,60 +168,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/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-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -244,32 +266,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -348,13 +355,13 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -389,7 +396,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -401,21 +408,27 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/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-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -431,12 +444,13 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -472,7 +486,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
BIN
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|
||||
</ul>
|
||||
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|
||||
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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-l4"><a class="reference internal" href="source/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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/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-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -339,7 +346,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
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@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -650,7 +657,7 @@ thead th {
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -515,7 +522,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -353,7 +360,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -380,7 +387,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -346,7 +353,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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<title>3.2. OrbbecViewer tutorial — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>3.2. OrbbecViewer QuickStarts — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. Quickstarts</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="quickstart.html">3.1. QuickStarts</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="quickstart.html#introduction">3.1.1. Introduction</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="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-l2 current"><a class="current reference internal" href="#">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">3.2. OrbbecViewer QuickStarts</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="#download">3.2.1. Download</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#camera-control">3.2.3. Camera Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
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</ul>
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||||
</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="breadcrumb-item active"><span class="section-number">3.2. </span>OrbbecViewer tutorial</li>
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<a href="../../_sources/source/3_quickstarts/orbbecviewer.md.txt" rel="nofollow"> View page source</a>
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<section id="orbbecviewer-tutorial">
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<h1><span class="section-number">3.2. </span>OrbbecViewer tutorial<a class="headerlink" href="#orbbecviewer-tutorial" title="Link to this heading"></a></h1>
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<section id="orbbecviewer-quickstarts">
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<h1><span class="section-number">3.2. </span>OrbbecViewer QuickStarts<a class="headerlink" href="#orbbecviewer-quickstarts" title="Link to this heading"></a></h1>
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<section id="download">
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<h2><span class="section-number">3.2.1. </span>Download<a class="headerlink" href="#download" title="Link to this heading"></a></h2>
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<p><strong>Repository link：</strong><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_v2/releases">OrbbecViewer Download</a></p>
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<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. Quickstarts</a><ul class="current">
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<li class="toctree-l2 current"><a class="current reference internal" href="#">3.1. QuickStarts</a><ul>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#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>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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|
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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||||
<li class="toctree-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
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</ul>
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||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="breadcrumb-item active"><span class="section-number">3.1. </span>QuickStarts</li>
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<li class="breadcrumb-item active"><span class="section-number">3.1. </span>ROS Package QuickStarts</li>
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<a href="../../_sources/source/3_quickstarts/quickstart.md.txt" rel="nofollow"> View page source</a>
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<section id="quickstarts">
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<h1><span class="section-number">3.1. </span>QuickStarts<a class="headerlink" href="#quickstarts" title="Link to this heading"></a></h1>
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<section id="ros-package-quickstarts">
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<h1><span class="section-number">3.1. </span>ROS Package QuickStarts<a class="headerlink" href="#ros-package-quickstarts" title="Link to this heading"></a></h1>
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<section id="introduction">
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<h2><span class="section-number">3.1.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h2>
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<p>This section provides a quick start to using the Orbbec ROS 2 wrapper.
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@@ -415,14 +422,14 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
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<script src="../../_static/js/theme.js"></script>
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<link rel="index" title="Index" href="../../genindex.html" />
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||||
<link rel="search" title="Search" href="../../search.html" />
|
||||
<link rel="next" title="3.1. QuickStarts" href="quickstart.html" />
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||||
<link rel="next" title="3.1. ROS Package QuickStarts" href="quickstart.html" />
|
||||
<link rel="prev" title="2.2. Registration script (required)" href="../2_installation/registration_script.html" />
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||||
</head>
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||||
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||||
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|
||||
</ul>
|
||||
</li>
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<li class="toctree-l1 current"><a class="current reference internal" href="#">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
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@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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</ul>
|
||||
</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</ul>
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</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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</ul>
|
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</li>
|
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</ul>
|
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@@ -324,13 +331,13 @@
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<p>This chapter provides quick start guides for the SDK, allowing users to run basic example programs quickly.</p>
|
||||
<div class="toctree-wrapper compound">
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<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="quickstart.html">3.1. QuickStarts</a><ul>
|
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<li class="toctree-l1"><a class="reference internal" href="quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="quickstart.html#sample-features">3.1.3. Sample Features</a></li>
|
||||
</ul>
|
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</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -346,14 +353,14 @@
|
||||
</div>
|
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="../2_installation/registration_script.html" class="btn btn-neutral float-left" title="2.2. Registration script (required)" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="quickstart.html" class="btn btn-neutral float-right" title="3.1. QuickStarts" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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<a href="quickstart.html" class="btn btn-neutral float-right" title="3.1. ROS Package QuickStarts" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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</div>
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|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
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</div>
|
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|
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@@ -22,7 +22,7 @@
|
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<link rel="index" title="Index" href="../../genindex.html" />
|
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<link rel="search" title="Search" href="../../search.html" />
|
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<link rel="next" title="4.1. Launch parameters" href="launch_parameters.html" />
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|
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<link rel="prev" title="3.2. OrbbecViewer QuickStarts" href="../3_quickstarts/orbbecviewer.html" />
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</head>
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|
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<body class="wy-body-for-nav">
|
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@@ -71,7 +71,7 @@
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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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@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
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|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
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<li class="toctree-l4"><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-l4"><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-l4"><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>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
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</li>
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<li class="toctree-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
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<li class="toctree-l4"><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-l4"><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>
|
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l1"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l1"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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||||
<li class="toctree-l4"><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-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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@@ -149,7 +149,7 @@
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<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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</ul>
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||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.5. Camera sensor structure</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
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||||
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
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<a href="coordinate_systems.html" class="btn btn-neutral float-left" title="4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="coordinate_systems.html" class="btn btn-neutral float-left" title="4.4. ROS2 Robot vs Camera Optical Coordination Systems" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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@@ -338,7 +345,7 @@
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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||||
</ul>
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||||
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||||
</ul>
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||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
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</div>
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<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems — OrbbecSDK V2 ROS2 Wrapper documentation</title>
|
||||
<title>4.4. ROS2 Robot vs Camera Optical Coordination Systems — OrbbecSDK V2 ROS2 Wrapper documentation</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
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<link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" />
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
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@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
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|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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||||
</ul>
|
||||
</li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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||||
</ul>
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</li>
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</ul>
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@@ -310,7 +317,7 @@
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<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">4.4. </span>ROS2(Robot) vs Optical(Camera) Coordination Systems</li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">4.4. </span>ROS2 Robot vs Camera Optical Coordination Systems</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../_sources/source/4_application_guide/coordinate_systems.md.txt" rel="nofollow"> View page source</a>
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</li>
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@@ -320,8 +327,8 @@
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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||||
<section id="ros2-robot-vs-optical-camera-coordination-systems">
|
||||
<h1><span class="section-number">4.4. </span>ROS2(Robot) vs Optical(Camera) Coordination Systems<a class="headerlink" href="#ros2-robot-vs-optical-camera-coordination-systems" title="Link to this heading"></a></h1>
|
||||
<section id="ros2-robot-vs-camera-optical-coordination-systems">
|
||||
<h1><span class="section-number">4.4. </span>ROS2 Robot vs Camera Optical Coordination Systems<a class="headerlink" href="#ros2-robot-vs-camera-optical-coordination-systems" title="Link to this heading"></a></h1>
|
||||
<ul class="simple">
|
||||
<li><p>Point Of View:</p>
|
||||
<ul>
|
||||
@@ -351,7 +358,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
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</div>
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@@ -71,7 +71,7 @@
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -920,7 +927,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -387,7 +394,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -603,7 +610,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
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||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -344,7 +351,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
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</div>
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||||
|
||||
@@ -21,7 +21,7 @@
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||||
<script src="../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../../genindex.html" />
|
||||
<link rel="search" title="Search" href="../../search.html" />
|
||||
<link rel="next" title="4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems" href="coordinate_systems.html" />
|
||||
<link rel="next" title="4.4. ROS2 Robot vs Camera Optical Coordination Systems" href="coordinate_systems.html" />
|
||||
<link rel="prev" title="4.2. All available services for camera control" href="services.html" />
|
||||
</head>
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
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</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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||||
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</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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@@ -71,7 +71,7 @@
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
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||||
</li>
|
||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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</ul>
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<li class="toctree-l1 current"><a class="current reference internal" href="#">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -322,67 +329,93 @@
|
||||
<section id="advanced-guide">
|
||||
<h1><span class="section-number">5. </span>Advanced Guide<a class="headerlink" href="#advanced-guide" title="Link to this heading"></a></h1>
|
||||
<p>This chapter covers advanced features of the SDK, including multi-camera usage, and special configuration modes.</p>
|
||||
<section id="multi-camera">
|
||||
<h2><span class="section-number">5.1. </span>Multi-Camera<a class="headerlink" href="#multi-camera" title="Link to this heading"></a></h2>
|
||||
<section id="performance-optimization">
|
||||
<h2><span class="section-number">5.1. </span>Performance & Optimization<a class="headerlink" href="#performance-optimization" title="Link to this heading"></a></h2>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
<section id="multi-camera">
|
||||
<h2><span class="section-number">5.2. </span>Multi-Camera<a class="headerlink" href="#multi-camera" title="Link to this heading"></a></h2>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
<section id="configuration-modes">
|
||||
<h2><span class="section-number">5.2. </span>Configuration & Modes<a class="headerlink" href="#configuration-modes" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3. </span>Configuration & Modes<a class="headerlink" href="#configuration-modes" title="Link to this heading"></a></h2>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="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-l2"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
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<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
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<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
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||||
<li class="toctree-l1"><a class="reference internal" href="configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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<li class="toctree-l1"><a class="reference internal" href="configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
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||||
<li class="toctree-l1"><a class="reference internal" href="configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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||||
<li class="toctree-l4"><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-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
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</ul>
|
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@@ -310,7 +317,7 @@
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.1. </span>Aligning Depth to Color in ROS 2</li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.1. </span>Aligning Depth to Color in ROS 2</li>
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<a href="../../../_sources/source/5_advanced_guide/configuration/align_depth_color.md.txt" rel="nofollow"> View page source</a>
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</li>
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<div itemprop="articleBody">
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<section id="aligning-depth-to-color-in-ros-2">
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<h1><span class="section-number">5.2.1. </span>Aligning Depth to Color in ROS 2<a class="headerlink" href="#aligning-depth-to-color-in-ros-2" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.3.1. </span>Aligning Depth to Color in ROS 2<a class="headerlink" href="#aligning-depth-to-color-in-ros-2" title="Link to this heading"></a></h1>
|
||||
<p>This section explains how to align depth images with color images to create an overlay image using ROS 2. This is particularly useful for applications requiring synchronized visual information from different sensor modalities.</p>
|
||||
<section id="commands-to-align-and-view-depth-and-color-images">
|
||||
<h2><span class="section-number">5.2.1.1. </span>Commands to Align and View Depth and Color Images<a class="headerlink" href="#commands-to-align-and-view-depth-and-color-images" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3.1.1. </span>Commands to Align and View Depth and Color Images<a class="headerlink" href="#commands-to-align-and-view-depth-and-color-images" title="Link to this heading"></a></h2>
|
||||
<ol>
|
||||
<li><p><strong>Basic Depth to Color Alignment:</strong></p>
|
||||
<p>To simply align the depth image to the color image, use the following command:</p>
|
||||
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||||
</ol>
|
||||
</section>
|
||||
<section id="selecting-topics-in-rviz2">
|
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<h2><span class="section-number">5.2.1.2. </span>Selecting Topics in RViz2<a class="headerlink" href="#selecting-topics-in-rviz2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3.1.2. </span>Selecting Topics in RViz2<a class="headerlink" href="#selecting-topics-in-rviz2" title="Link to this heading"></a></h2>
|
||||
<p>To visualize the aligned images in RViz2:</p>
|
||||
<ol>
|
||||
<li><p>Launch RViz2 after running one of the above commands.</p></li>
|
||||
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|
||||
</ol>
|
||||
</section>
|
||||
<section id="example-of-depth-to-color-overlay">
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||||
<h2><span class="section-number">5.2.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
|
||||
<p>After selecting the appropriate topic in RViz2, you will be able to see the depth to color overlay image. Here’s what it might look like:</p>
|
||||
<p><img alt="Depth to Color Overlay Image" src="../../../_images/image4.jpg" /></p>
|
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</section>
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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<title>5.2.2. Configuration of depth NFOV and WFOV modes — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>5.3.2. Configuration of depth NFOV and WFOV modes — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
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||||
</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
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|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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</ul>
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
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</ul>
|
||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
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||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
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<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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</ul>
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</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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</ul>
|
||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.2. </span>Configuration of depth NFOV and WFOV modes</li>
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<section id="configuration-of-depth-nfov-and-wfov-modes">
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<h1><span class="section-number">5.2.2. </span>Configuration of depth NFOV and WFOV modes<a class="headerlink" href="#configuration-of-depth-nfov-and-wfov-modes" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.3.2. </span>Configuration of depth NFOV and WFOV modes<a class="headerlink" href="#configuration-of-depth-nfov-and-wfov-modes" title="Link to this heading"></a></h1>
|
||||
<p>For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of
|
||||
Depth and IR in the launch file.
|
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In launch file, depth_width, depth_height, ir_width, ir_height represents the resolution of the depth and the resolution of
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@@ -340,15 +347,15 @@ resolutions is as follows:</p>
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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||||
</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
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||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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</ul>
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</li>
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</ul>
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@@ -245,32 +267,17 @@
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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</ul>
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</ul>
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<li class="breadcrumb-item active"><span class="section-number">5.2.3. </span>Depth work mode switch</li>
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<div itemprop="articleBody">
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<section id="depth-work-mode-switch">
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<h1><span class="section-number">5.2.3. </span>Depth work mode switch<a class="headerlink" href="#depth-work-mode-switch" title="Link to this heading"></a></h1>
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<h1><span class="section-number">5.3.3. </span>Depth work mode switch<a class="headerlink" href="#depth-work-mode-switch" title="Link to this heading"></a></h1>
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<p>Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L,
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||||
and Femto and Femto Bolt cameras.</p>
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<ul class="simple">
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@@ -358,15 +365,15 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.4. </span>Disparity_search_offset</li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.4. </span>Disparity_search_offset</li>
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<div itemprop="articleBody">
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<section id="disparity-search-offset">
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<h1><span class="section-number">5.2.4. </span>Disparity_search_offset<a class="headerlink" href="#disparity-search-offset" title="Link to this heading"></a></h1>
|
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<h1><span class="section-number">5.3.4. </span>Disparity_search_offset<a class="headerlink" href="#disparity-search-offset" title="Link to this heading"></a></h1>
|
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<blockquote>
|
||||
<div><p>This section describes how to use the disparity_search_offset function in the Gemini330 series cameras (minimum camera firmware version <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>).Disparity_search_offset is effective only for1280×720, 1280×800 and 640×400 resolutions of depth stream.</p>
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</div></blockquote>
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<section id="function-introduction">
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<h2><span class="section-number">5.2.4.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
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<h2><span class="section-number">5.3.4.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
|
||||
<p>The definition of disparity search range: For any pixel <em>(u_l, v)</em> in the left image, by default, the corresponding disparity search range in the right image is <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>, where the disparity search length is 256 and the maximum integer disparity is 255. If the starting point of the search is adjusted to <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>, the offset is defined as the disparity shift. Therefore, our disparity search range configuration includes both the disparity search length and the search position offset (which can also be referred to as the disparity shift).</p>
|
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<p><img alt="Depth Point Cloud Visualization" src="../../../_images/search_offset0.png" /></p>
|
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</section>
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||||
<section id="parameter-introduction">
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<h2><span class="section-number">5.2.4.2. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
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||||
<h2><span class="section-number">5.3.4.2. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<p>The disparity_search_offset related parameters are set in <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
|
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<ul class="simple">
|
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<li><p><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code> : Disparity search length,can only be set to 64, 128 and 256.</p></li>
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</tbody>
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</table></section>
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<section id="run-the-launch">
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<h2><span class="section-number">5.2.4.3. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3.4.3. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<p>Setting the disparity_search_offset parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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<li class="toctree-l3"><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-l4"><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-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
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||||
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|
||||
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
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<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
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<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
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</ul>
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</li>
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<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.3.5.2. Run the launch</a></li>
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<li class="toctree-l4"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
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<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
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|
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</ul>
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</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.5. </span>Using interleave_ae with Gemini330 series cameras</li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.5. </span>Using interleave_ae with Gemini330 series cameras</li>
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<a href="../../../_sources/source/5_advanced_guide/configuration/interleave_ae_mode.md.txt" rel="nofollow"> View page source</a>
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@@ -321,12 +328,12 @@
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<div itemprop="articleBody">
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<section id="using-interleave-ae-with-gemini330-series-cameras">
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<h1><span class="section-number">5.2.5. </span>Using interleave_ae with Gemini330 series cameras<a class="headerlink" href="#using-interleave-ae-with-gemini330-series-cameras" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.3.5. </span>Using interleave_ae with Gemini330 series cameras<a class="headerlink" href="#using-interleave-ae-with-gemini330-series-cameras" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use interleave_ae in Gemini 330 series cameras (minimum camera firmware version <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.00</a>)</p>
|
||||
</div></blockquote>
|
||||
<section id="parameter-introduction">
|
||||
<h2><span class="section-number">5.2.5.1. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3.5.1. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<p>The interleave_ae related parameters are set in <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> : Set laser or hdr interleave.</p></li>
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@@ -364,7 +371,7 @@
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||||
</ul>
|
||||
</section>
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||||
<section id="run-the-launch">
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||||
<h2><span class="section-number">5.2.5.2. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
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||||
<h2><span class="section-number">5.3.5.2. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<p>Setting the interleave_ae parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
|
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</pre></div>
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@@ -374,7 +381,7 @@
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<p><img alt="Depth Point Cloud Visualization" src="../../../_images/interleave_ae1.jpeg" /></p>
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||||
</section>
|
||||
<section id="multi-camera-synced-interleave-ae">
|
||||
<h2><span class="section-number">5.2.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
|
||||
<p>Please refer to <a class="reference external" href="./multi_camera_synced">multi_camera_synced</a> and <a class="reference external" href="#parameter-introduction">Parameter Introduction</a></p>
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</section>
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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<li class="toctree-l4"><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-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.7. </span>Net_camera</li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.7. </span>Net_camera</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/configuration/net_camera.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
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<section id="net-camera">
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<h1><span class="section-number">5.2.7. </span>Net_camera<a class="headerlink" href="#net-camera" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.3.7. </span>Net_camera<a class="headerlink" href="#net-camera" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use Net camera in OrbbecSDK_ROS2.Currently, only Femto_Mega, Gemini 335Le and Gemini 435Le devices are supported, and other Net devices will be supported in the near future.</p>
|
||||
</div></blockquote>
|
||||
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
|
||||
<section id="femto-mega-gemini-435le">
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||||
<h2><span class="section-number">5.2.7.1. </span>Femto Mega & Gemini 435Le<a class="headerlink" href="#femto-mega-gemini-435le" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3.7.1. </span>Femto Mega & Gemini 435Le<a class="headerlink" href="#femto-mega-gemini-435le" title="Link to this heading"></a></h2>
|
||||
<p><strong>Parameter Introduction</strong></p>
|
||||
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> is set to true, which will automatically enumerate network devices.</p>
|
||||
<p>If you do not want to automatically enumerate network devices,you can set <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> to false, <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the device’s IP address, and <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
|
||||
@@ -356,7 +363,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="gemini-335le">
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||||
<h2><span class="section-number">5.2.7.2. </span>Gemini 335Le<a class="headerlink" href="#gemini-335le" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3.7.2. </span>Gemini 335Le<a class="headerlink" href="#gemini-335le" title="Link to this heading"></a></h2>
|
||||
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> must be set to true, set <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the IP address of the device, and set <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> : Enable automatically enumerate network devices.</p></li>
|
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@@ -380,7 +387,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="multi-net-camera">
|
||||
<h2><span class="section-number">5.2.7.3. </span>Multi Net camera<a class="headerlink" href="#multi-net-camera" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.3.7.3. </span>Multi Net camera<a class="headerlink" href="#multi-net-camera" title="Link to this heading"></a></h2>
|
||||
<p>For <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py">multi_net_camera.launch.py</a> as an example:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_net_camera.launch.py
|
||||
</pre></div>
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</div>
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<a href="predefined_presets.html" class="btn btn-neutral float-left" title="5.3.6. Predefined presets" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="../../6_benchmark/benchmark.html" class="btn btn-neutral float-right" title="6. Benchmark" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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@@ -400,7 +407,7 @@
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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<title>5.2.6. Predefined presets — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>5.3.6. Predefined presets — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
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|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
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</li>
|
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</ul>
|
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</li>
|
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
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<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
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</ul>
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<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.6. Predefined presets</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
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</ul>
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<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.6. Predefined presets</a></li>
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<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<h1><span class="section-number">5.2.6. </span>Predefined presets<a class="headerlink" href="#predefined-presets" title="Link to this heading"></a></h1>
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<h1><span class="section-number">5.3.6. </span>Predefined presets<a class="headerlink" href="#predefined-presets" title="Link to this heading"></a></h1>
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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||||
<li class="toctree-l4"><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-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul class="current">
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<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
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<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
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</ul>
|
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@@ -310,7 +317,7 @@
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<ul class="wy-breadcrumbs">
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||||
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.4. </span>GMSL_camera</li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">5.2.4. </span>GMSL_camera</li>
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||||
<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/multi_camera/gmsl_camera.md.txt" rel="nofollow"> View page source</a>
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</li>
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||||
@@ -321,20 +328,20 @@
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="gmsl-camera">
|
||||
<h1><span class="section-number">5.1.4. </span>GMSL_camera<a class="headerlink" href="#gmsl-camera" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.2.4. </span>GMSL_camera<a class="headerlink" href="#gmsl-camera" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.</p>
|
||||
</div></blockquote>
|
||||
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
|
||||
<section id="single-gmsl-camera">
|
||||
<h2><span class="section-number">5.1.4.1. </span>Single GMSL camera<a class="headerlink" href="#single-gmsl-camera" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.4.1. </span>Single GMSL camera<a class="headerlink" href="#single-gmsl-camera" title="Link to this heading"></a></h2>
|
||||
<p>The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_gmsl.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="multi-gmsl-camera">
|
||||
<h2><span class="section-number">5.1.4.2. </span>Multi GMSL camera<a class="headerlink" href="#multi-gmsl-camera" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.4.2. </span>Multi GMSL camera<a class="headerlink" href="#multi-gmsl-camera" title="Link to this heading"></a></h2>
|
||||
<p>To get the <code class="docutils literal notranslate"><span class="pre">usb_port</span></code> of the GMSL camera, plug in the camera and run the following command in the terminal:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
|
||||
</pre></div>
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|
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</div></blockquote>
|
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</section>
|
||||
<section id="multi-gmsl-camera-synced">
|
||||
<h2><span class="section-number">5.1.4.3. </span>Multi GMSL camera synced<a class="headerlink" href="#multi-gmsl-camera-synced" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.4.3. </span>Multi GMSL camera synced<a class="headerlink" href="#multi-gmsl-camera-synced" title="Link to this heading"></a></h2>
|
||||
<p>First, please see how to use <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>.</p>
|
||||
<p>In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the <code class="docutils literal notranslate"><span class="pre">primary</span></code> mode. Each GMSL camera is <code class="docutils literal notranslate"><span class="pre">secondary</span></code>.</p>
|
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<p><strong>Additional Parameter Settings</strong></p>
|
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
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||||
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
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@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
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@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
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||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
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||||
</li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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||||
</ul>
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||||
</li>
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</ul>
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@@ -310,7 +317,7 @@
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<ul class="wy-breadcrumbs">
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.1. </span>Multi-Camera</li>
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||||
<li class="breadcrumb-item active"><span class="section-number">5.2.1. </span>Multi-Camera</li>
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||||
<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/multi_camera/multi_camera.md.txt" rel="nofollow"> View page source</a>
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@@ -321,7 +328,7 @@
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<div itemprop="articleBody">
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<section id="multi-camera">
|
||||
<h1><span class="section-number">5.1.1. </span>Multi-Camera<a class="headerlink" href="#multi-camera" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.2.1. </span>Multi-Camera<a class="headerlink" href="#multi-camera" title="Link to this heading"></a></h1>
|
||||
<ul class="simple">
|
||||
<li><p>To get the <code class="docutils literal notranslate"><span class="pre">usb_port</span></code> of the camera, plug in the camera and run the following command in the terminal:</p></li>
|
||||
</ul>
|
||||
@@ -386,7 +393,7 @@ Otherwise, the parameter values of different cameras may become contaminated.</p
|
||||
</pre></div>
|
||||
</div>
|
||||
<section id="no-data-stream-from-multiple-cameras">
|
||||
<h2><span class="section-number">5.1.1.1. </span>No Data Stream from Multiple Cameras<a class="headerlink" href="#no-data-stream-from-multiple-cameras" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.1.1. </span>No Data Stream from Multiple Cameras<a class="headerlink" href="#no-data-stream-from-multiple-cameras" title="Link to this heading"></a></h2>
|
||||
<p><strong>Insufficient Power Supply</strong>:</p>
|
||||
<ul class="simple">
|
||||
<li><p>Ensure that each camera is connected to a separate hub.</p></li>
|
||||
@@ -409,8 +416,8 @@ by running the following command:</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="image-topic-frame-rate-too-low-from-multiple-cameras">
|
||||
<h2><span class="section-number">5.1.1.2. </span>Image topic frame rate too low from Multiple Cameras<a class="headerlink" href="#image-topic-frame-rate-too-low-from-multiple-cameras" title="Link to this heading"></a></h2>
|
||||
<p>Refer to the <a class="reference external" href="../performance/fastdds_tuning">Fast DDS Configuration</a> file.</p>
|
||||
<h2><span class="section-number">5.2.1.2. </span>Image topic frame rate too low from Multiple Cameras<a class="headerlink" href="#image-topic-frame-rate-too-low-from-multiple-cameras" title="Link to this heading"></a></h2>
|
||||
<p>Refer to the <a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">Fast DDS Configuration</span></a> file.</p>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
@@ -418,15 +425,15 @@ by running the following command:</p></li>
|
||||
</div>
|
||||
</div>
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>5.1.2. Multi_camera synced Instructions — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>5.2.2. Multi_camera synced Instructions — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<link rel="prev" title="5.1.1. Multi-Camera" href="multi_camera.html" />
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</head>
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<body class="wy-body-for-nav">
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@@ -71,7 +71,7 @@
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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@@ -245,32 +267,17 @@
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</ul>
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||||
</li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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||||
</ul>
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</li>
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@@ -310,7 +317,7 @@
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<ul class="wy-breadcrumbs">
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.2. </span>Multi_camera synced Instructions</li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.2. </span>Multi_camera synced Instructions</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/multi_camera/multi_camera_synced.md.txt" rel="nofollow"> View page source</a>
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</li>
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@@ -321,12 +328,12 @@
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<div itemprop="articleBody">
|
||||
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||||
<section id="multi-camera-synced-instructions">
|
||||
<h1><span class="section-number">5.1.2. </span>Multi_camera synced Instructions<a class="headerlink" href="#multi-camera-synced-instructions" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.2.2. </span>Multi_camera synced Instructions<a class="headerlink" href="#multi-camera-synced-instructions" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>The purpose of this document is to explain how to use multi-camera synced with OrbbecSDK_ROS2</p>
|
||||
</div></blockquote>
|
||||
<section id="setup-instructions">
|
||||
<h2><span class="section-number">5.1.2.1. </span>Setup instructions<a class="headerlink" href="#setup-instructions" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.2.1. </span>Setup instructions<a class="headerlink" href="#setup-instructions" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p>Please read the Multi-Camera Synchronization Setup Guide:<a class="reference external" href="https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/">Multi-Camera Synchronization Setup</a></p></li>
|
||||
<li><p>Make sure the camera is correctly connected to the multi-camera synchronizer.</p></li>
|
||||
@@ -334,13 +341,13 @@
|
||||
<p><img alt="Depth Point Cloud Visualization" src="../../../_images/multi_camera_synced1.png" /></p>
|
||||
</section>
|
||||
<section id="checking-camera-port-with-orbbecsdk-ros2">
|
||||
<h2><span class="section-number">5.1.2.2. </span>Checking camera port with OrbbecSDK_ROS2<a class="headerlink" href="#checking-camera-port-with-orbbecsdk-ros2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.2.2. </span>Checking camera port with OrbbecSDK_ROS2<a class="headerlink" href="#checking-camera-port-with-orbbecsdk-ros2" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="orbbecsdk-ros2-multi-camera-synced-configuration">
|
||||
<h2><span class="section-number">5.1.2.3. </span>OrbbecSDK_ROS2 multi-camera synced configuration<a class="headerlink" href="#orbbecsdk-ros2-multi-camera-synced-configuration" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.2.3. </span>OrbbecSDK_ROS2 multi-camera synced configuration<a class="headerlink" href="#orbbecsdk-ros2-multi-camera-synced-configuration" title="Link to this heading"></a></h2>
|
||||
<p>Open multi_camera_synced.launch.py, and configure the camera settings as shown below:</p>
|
||||
<p><img alt="Depth Point Cloud Visualization" src="../../../_images/multi_camera_synced2.png" /></p>
|
||||
<ol class="simple">
|
||||
@@ -395,7 +402,7 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="run-the-following-command-to-start-the-multi-camera-synced">
|
||||
<h2><span class="section-number">5.1.2.4. </span>Run the following command to start the multi-camera synced<a class="headerlink" href="#run-the-following-command-to-start-the-multi-camera-synced" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.2.4. </span>Run the following command to start the multi-camera synced<a class="headerlink" href="#run-the-following-command-to-start-the-multi-camera-synced" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_camera_synced.launch.py
|
||||
</pre></div>
|
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</div>
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</div>
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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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||||
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
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|
||||
</ul>
|
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</li>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
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</li>
|
||||
</ul>
|
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</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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||||
</ul>
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</li>
|
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
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</ul>
|
||||
</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<ul class="wy-breadcrumbs">
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.3. </span>Multi_camera_synced_verification_tool</li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.3. </span>Multi_camera_synced_verification_tool</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
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<section id="multi-camera-synced-verification-tool">
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<h1><span class="section-number">5.1.3. </span>Multi_camera_synced_verification_tool<a class="headerlink" href="#multi-camera-synced-verification-tool" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.2.3. </span>Multi_camera_synced_verification_tool<a class="headerlink" href="#multi-camera-synced-verification-tool" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This article will introduce how to verify the synchronization accuracy of multi-camera synchronization.</p>
|
||||
<p>First, please see how to use <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>.</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="directory-structure">
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<h2><span class="section-number">5.1.3.1. </span>Directory Structure<a class="headerlink" href="#directory-structure" title="Link to this heading"></a></h2>
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<h2><span class="section-number">5.2.3.1. </span>Directory Structure<a class="headerlink" href="#directory-structure" title="Link to this heading"></a></h2>
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<div class="highlight-plaintext notranslate"><div class="highlight"><pre><span></span>.
|
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├── multicamera_sync/
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│ ├── output/
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@@ -364,7 +371,7 @@
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</ul>
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</section>
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<section id="preparation-for-operation">
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<h2><span class="section-number">5.1.3.2. </span>Preparation for operation<a class="headerlink" href="#preparation-for-operation" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.3.2. </span>Preparation for operation<a class="headerlink" href="#preparation-for-operation" title="Link to this heading"></a></h2>
|
||||
<p><strong>save_rgbir node</strong></p>
|
||||
<p>Edit multi_camera_synced_verify.launch.py and fill in the activated camera device,we can find that save_rgbir is started at the end.</p>
|
||||
<blockquote>
|
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@@ -418,7 +425,7 @@
|
||||
<p>Edit Config.ini.Modify <code class="docutils literal notranslate"><span class="pre">frameRate</span></code> and <code class="docutils literal notranslate"><span class="pre">tspRangeThreshold</span></code>.</p>
|
||||
</section>
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||||
<section id="run-this-example">
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||||
<h2><span class="section-number">5.1.3.3. </span>Run this example<a class="headerlink" href="#run-this-example" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.3.3. </span>Run this example<a class="headerlink" href="#run-this-example" title="Link to this heading"></a></h2>
|
||||
<p><strong>Run launch and save camera pictures</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>First terminal</p></li>
|
||||
@@ -457,7 +464,7 @@ python3<span class="w"> </span>SyncFramesMain.py
|
||||
<p>After the operation is successful, you can view the synchronization effect in the <code class="docutils literal notranslate"><span class="pre">results</span> <span class="pre">folder</span></code></p>
|
||||
</section>
|
||||
<section id="files-that-need-to-be-changed">
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<h2><span class="section-number">5.1.3.4. </span>Files that need to be changed<a class="headerlink" href="#files-that-need-to-be-changed" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.3.4. </span>Files that need to be changed<a class="headerlink" href="#files-that-need-to-be-changed" title="Link to this heading"></a></h2>
|
||||
<p><strong>Analysis tools</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json">multi_save_rgbir_params.json</a></p></li>
|
||||
@@ -474,15 +481,15 @@ python3<span class="w"> </span>SyncFramesMain.py
|
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</div>
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<hr/>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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</span></p>
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>Efficient intra-process communication: — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>5.1.2. Efficient intra-process communication: — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
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<ul>
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -147,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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|
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</li>
|
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
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</ul>
|
||||
</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example">5.1.2.2. Example</a></li>
|
||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
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</ul>
|
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</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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||||
</ul>
|
||||
</li>
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||||
</ul>
|
||||
</li>
|
||||
</ul>
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||||
</li>
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||||
<li class="toctree-l1"><a class="reference internal" href="../benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><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-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#introduction">6.4.3.1. Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.2. </span>Efficient intra-process communication:</li>
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<section id="efficient-intra-process-communication">
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<h1>Efficient intra-process communication:<a class="headerlink" href="#efficient-intra-process-communication" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.1.2. </span>Efficient intra-process communication:<a class="headerlink" href="#efficient-intra-process-communication" title="Link to this heading"></a></h1>
|
||||
<section id="introduction">
|
||||
<h2>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h2>
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<h2><span class="section-number">5.1.2.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h2>
|
||||
<p>Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on image/pointcloud topics, especially with big frame resolutions and high FPS.</p>
|
||||
<p>You will need to launch a component container and launch our node as a component together with other component nodes. Further details on “Composing multiple nodes in a single process” can be found <a class="reference external" href="https://docs.ros.org/en/rolling/Tutorials/Composition.html">here</a>.</p>
|
||||
<p>Further details on efficient intra-process communication can be found <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication">here</a>.</p>
|
||||
</section>
|
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<section id="example">
|
||||
<h2>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.2.2. </span>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h2>
|
||||
<p><strong>Manually loading multiple components into the same process</strong></p>
|
||||
<ul>
|
||||
<li><p>Start the component:</p>
|
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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<title>5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2 — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<ul>
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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||||
</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -147,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
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|
||||
</li>
|
||||
</ul>
|
||||
</li>
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<li class="toctree-l1"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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||||
</ul>
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||||
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<li class="toctree-l1"><a class="reference internal" href="../benchmark.html">6. Benchmark</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../introduction.html">6.1. Introduction</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
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<li class="toctree-l3"><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-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
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</ul>
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||||
</li>
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<li class="toctree-l2"><a class="reference internal" href="../benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
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||||
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<li class="toctree-l2"><a class="reference internal" href="../benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../performance.html">6.4. Performance & Optimization</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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||||
</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-results">6.4.2.5. Test Results</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#example">6.4.3.2. Example</a></li>
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</ul>
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</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="breadcrumb-item active">Fast DDS Optimization for Orbbec Camera with ROS2</li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.3. </span>Fast DDS Optimization for Orbbec Camera with ROS2</li>
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<a href="../../../_sources/source/6_benchmark/performance/fastdds_tuning.md.txt" rel="nofollow"> View page source</a>
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<hr/>
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@@ -318,12 +328,12 @@
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<div itemprop="articleBody">
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||||
<section id="fast-dds-optimization-for-orbbec-camera-with-ros2">
|
||||
<h1>Fast DDS Optimization for Orbbec Camera with ROS2<a class="headerlink" href="#fast-dds-optimization-for-orbbec-camera-with-ros2" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.1.3. </span>Fast DDS Optimization for Orbbec Camera with ROS2<a class="headerlink" href="#fast-dds-optimization-for-orbbec-camera-with-ros2" title="Link to this heading"></a></h1>
|
||||
<p>When operating with the default configuration, Fast DDS exhibits suboptimal transmission efficiency, resulting in
|
||||
significant image transmission delays when used with the Orbbec camera in ROS2. This document provides guidance on
|
||||
optimizing Fast DDS to enhance image transfer efficiency.</p>
|
||||
<section id="adjusting-system-parameters">
|
||||
<h2>Adjusting System Parameters<a class="headerlink" href="#adjusting-system-parameters" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.3.1. </span>Adjusting System Parameters<a class="headerlink" href="#adjusting-system-parameters" title="Link to this heading"></a></h2>
|
||||
<p><strong>IP Fragmentation Time</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>Path</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_time</span></code> (default: 30 seconds)</p></li>
|
||||
@@ -378,7 +388,7 @@ net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
to <a class="reference external" href="https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html">ROS 2 DDS Tuning Documentation</a>.</p>
|
||||
</section>
|
||||
<section id="fast-dds-configuration">
|
||||
<h2>Fast DDS Configuration<a class="headerlink" href="#fast-dds-configuration" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.3.2. </span>Fast DDS Configuration<a class="headerlink" href="#fast-dds-configuration" title="Link to this heading"></a></h2>
|
||||
<p>Below is an example of a Fast DDS configuration file optimized for ROS2 usage with the Orbbec camera. This configuration
|
||||
enhances the overall data transmission by adjusting buffer sizes and transport settings.</p>
|
||||
<p><strong>Configuration File:</strong> <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></p>
|
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@@ -461,13 +471,16 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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<title>Reducing CPU Usage with Orbbec ROS Package — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>5.1.1. Reducing CPU Usage with Orbbec ROS Package — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l3"><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"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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||||
<li class="toctree-l4"><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-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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</ul>
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</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-environment">5.1.1.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-setup">5.1.1.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-results">5.1.1.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><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-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-results">6.4.2.5. Test Results</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#example">6.4.3.2. Example</a></li>
|
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</ul>
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</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="breadcrumb-item active">Reducing CPU Usage with Orbbec ROS Package</li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.1. </span>Reducing CPU Usage with Orbbec ROS Package</li>
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<a href="../../../_sources/source/6_benchmark/performance/lower_cpu_usage.md.txt" rel="nofollow"> View page source</a>
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<a href="../../../_sources/source/5_advanced_guide/performance/lower_cpu_usage.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
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<section id="reducing-cpu-usage-with-orbbec-ros-package">
|
||||
<h1>Reducing CPU Usage with Orbbec ROS Package<a class="headerlink" href="#reducing-cpu-usage-with-orbbec-ros-package" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.1.1. </span>Reducing CPU Usage with Orbbec ROS Package<a class="headerlink" href="#reducing-cpu-usage-with-orbbec-ros-package" title="Link to this heading"></a></h1>
|
||||
<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>
|
||||
<p>This document outlines strategies for minimizing CPU usage in the <strong>OrbbecSDK_ROS2 v2</strong> environment when using <strong>Gemini 330 series cameras</strong>. The firmware version must be <strong>no lower than 1.4.10</strong>, and <code class="docutils literal notranslate"><span class="pre">device</span></code> should be set to <strong>Default</strong>.</p>
|
||||
<section id="recommended-settings-for-lower-cpu-usage">
|
||||
<h2>Recommended Settings for Lower CPU Usage<a class="headerlink" href="#recommended-settings-for-lower-cpu-usage" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.1.1. </span>Recommended Settings for Lower CPU Usage<a class="headerlink" href="#recommended-settings-for-lower-cpu-usage" title="Link to this heading"></a></h2>
|
||||
<p>To achieve the lowest possible CPU usage in OrbbecSDK_ROS2, it is recommended to configure the following parameters.</p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
@@ -351,14 +361,14 @@
|
||||
</tbody>
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</table></section>
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<section id="launch-files-used-for-testing">
|
||||
<h2>Launch Files Used for Testing<a class="headerlink" href="#launch-files-used-for-testing" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.1.2. </span>Launch Files Used for Testing<a class="headerlink" href="#launch-files-used-for-testing" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="test-environment">
|
||||
<h2>Test environment<a class="headerlink" href="#test-environment" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.1.3. </span>Test environment<a class="headerlink" href="#test-environment" title="Link to this heading"></a></h2>
|
||||
<p><strong>Hardware Configuration</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>CPU</strong>: Intel i7-8700 @ 3.20GHz</p></li>
|
||||
@@ -379,7 +389,7 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="test-setup">
|
||||
<h2>Test Setup<a class="headerlink" href="#test-setup" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.1.4. </span>Test Setup<a class="headerlink" href="#test-setup" title="Link to this heading"></a></h2>
|
||||
<p><strong>Stream Settings:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Depth / IR Left / IR Right: 848×480 @ 30fps</p></li>
|
||||
@@ -388,7 +398,7 @@
|
||||
<p>Note: The following CPU usage data focuses on <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code>, <code class="docutils literal notranslate"><span class="pre">color_format</span></code> and various filter combinations.</p>
|
||||
</section>
|
||||
<section id="test-results">
|
||||
<h2>Test Results<a class="headerlink" href="#test-results" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.1.5. </span>Test Results<a class="headerlink" href="#test-results" title="Link to this heading"></a></h2>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
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@@ -482,7 +492,7 @@
|
||||
</table><p>Based on the test results, using only the <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code> results in a negligible change in CPU usage for both <code class="docutils literal notranslate"><span class="pre">libuvc</span></code> (+3.5%) and <code class="docutils literal notranslate"><span class="pre">v4l2</span></code> (-3.4%) compared to the no-filter benchmark, as this filter runs internally on the camera hardware. In contrast, other filters execute on the host system. Adding the <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> to the hardware filter leads to a moderate increase in CPU usage, while applying the software-based <code class="docutils literal notranslate"><span class="pre">noise_removal_filter</span></code> —either alone or combined with <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> —significantly increases CPU load. To maintain low CPU usage, it is recommended to avoid software-based filters and rely solely on the <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code>.</p>
|
||||
</section>
|
||||
<section id="further-optimizationa">
|
||||
<h2>Further Optimizationa<a class="headerlink" href="#further-optimizationa" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.1.6. </span>Further Optimizationa<a class="headerlink" href="#further-optimizationa" title="Link to this heading"></a></h2>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
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||||
</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
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</ul>
|
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</li>
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||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
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||||
</ul>
|
||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
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</ul>
|
||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="performance.html">6.4. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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<li class="toctree-l3"><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-l3"><a class="reference internal" href="performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#test-results">6.4.2.5. Test Results</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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||||
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<li class="toctree-l3"><a class="reference internal" href="performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#example">6.4.3.2. Example</a></li>
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||||
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||||
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||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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||||
<li class="toctree-l4"><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>
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||||
<li class="toctree-l4"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service 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></li>
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<li class="toctree-l1"><a class="reference internal" href="performance.html">6.4. Performance & Optimization</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="performance.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="performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a></li>
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<li class="toctree-l2"><a class="reference internal" href="performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a></li>
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<li class="toctree-l2"><a class="reference internal" href="performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a></li>
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<li class="toctree-l1"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
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<li class="toctree-l1"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
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<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-l4"><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-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><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-l4"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -322,11 +329,22 @@
|
||||
|
||||
<section id="benchmark-data">
|
||||
<h1><span class="section-number">6.3. </span>Benchmark Data<a class="headerlink" href="#benchmark-data" title="Link to this heading"></a></h1>
|
||||
<p>This section records the data of using the benchmark tool to test different cameras</p>
|
||||
<p>This section records the data of using the benchmark tool to test different cameras. Click the link to download the xlsx data.</p>
|
||||
<section id="common-benckmark-data">
|
||||
<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>
|
||||
<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>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="../service_benchmark_data/ros2_service_benchmark_cpp.xlsx">ROS2 Service Benchmark Data cpp</a></p></li>
|
||||
<li><p><a class="reference external" href="../service_benchmark_data/ros2_service_benchmark_python.xlsx">ROS2 Service Benchmark Data python</a></p></li>
|
||||
<li><p><a class="reference external" href="../../_static/ros2_common_benchmark_data.xlsx">Common Benchmark Data</a></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="service-benchmark-data">
|
||||
<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>
|
||||
<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>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="../../_static/ros2_service_benchmark_cpp.xlsx">Service Benchmark Data cpp</a></p></li>
|
||||
<li><p><a class="reference external" href="../../_static/ros2_service_benchmark_python.xlsx">Service Benchmark Data python</a></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
@@ -334,14 +352,14 @@
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="benchmark_usage.html" class="btn btn-neutral float-left" title="6.2. Benchmark Usage" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="performance.html" class="btn btn-neutral float-right" title="6.4. Performance & Optimization" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
<a href="othertools.html" class="btn btn-neutral float-right" title="6.4. Other Tools" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><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-l4"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -455,7 +462,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><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-l4"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -366,7 +373,7 @@
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||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
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||||
</div>
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||||
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||||
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||||
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<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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||||
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||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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||||
<title>6.4. Performance & Optimization — OrbbecSDK V2 ROS2 Wrapper documentation</title>
|
||||
<title>6.4. Other Tools — OrbbecSDK V2 ROS2 Wrapper documentation</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
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<link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" />
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,8 +267,12 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><a class="reference internal" href="#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
@@ -254,25 +280,6 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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||||
@@ -310,9 +317,9 @@
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></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>Performance & Optimization</li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">6.4. </span>Other Tools</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../_sources/source/6_benchmark/performance.md.txt" rel="nofollow"> View page source</a>
|
||||
<a href="../../_sources/source/6_benchmark/othertools.md.txt" rel="nofollow"> View page source</a>
|
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</li>
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</ul>
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<hr/>
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@@ -320,8 +327,8 @@
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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|
||||
<section id="performance-optimization">
|
||||
<h1><span class="section-number">6.4. </span>Performance & Optimization<a class="headerlink" href="#performance-optimization" title="Link to this heading"></a></h1>
|
||||
<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>
|
||||
<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>
|
||||
<blockquote>
|
||||
@@ -375,374 +382,6 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
<section id="reducing-cpu-usage-with-orbbec-ros-package">
|
||||
<h2><span class="section-number">6.4.2. </span>Reducing CPU Usage with Orbbec ROS Package<a class="headerlink" href="#reducing-cpu-usage-with-orbbec-ros-package" title="Link to this heading"></a></h2>
|
||||
<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>
|
||||
<p>This document outlines strategies for minimizing CPU usage in the <strong>OrbbecSDK_ROS2 v2</strong> environment when using <strong>Gemini 330 series cameras</strong>. The firmware version must be <strong>no lower than 1.4.10</strong>, and <code class="docutils literal notranslate"><span class="pre">device</span></code> should be set to <strong>Default</strong>.</p>
|
||||
<section id="recommended-settings-for-lower-cpu-usage">
|
||||
<h3><span class="section-number">6.4.2.1. </span>Recommended Settings for Lower CPU Usage<a class="headerlink" href="#recommended-settings-for-lower-cpu-usage" title="Link to this heading"></a></h3>
|
||||
<p>To achieve the lowest possible CPU usage in OrbbecSDK_ROS2, it is recommended to configure the following parameters.</p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Parameter</th>
|
||||
<th>Recommendation</th>
|
||||
<th>Note</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td><code>uvc_backend</code></td>
|
||||
<td><code>v4l2</code></td>
|
||||
<td>Lower CPU usage compared to <code>libuvc</code></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>color_format</code></td>
|
||||
<td><code>RGB</code></td>
|
||||
<td>Lower CPU usage than <code>MJPG</code></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>filter</code></td>
|
||||
<td>Only <code>hardware_noise_removal_filter</code></td>
|
||||
<td>Other filters significantly increase CPU usage</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></section>
|
||||
<section id="launch-files-used-for-testing">
|
||||
<h3><span class="section-number">6.4.2.2. </span>Launch Files Used for Testing<a class="headerlink" href="#launch-files-used-for-testing" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="test-environment">
|
||||
<h3><span class="section-number">6.4.2.3. </span>Test environment<a class="headerlink" href="#test-environment" title="Link to this heading"></a></h3>
|
||||
<p><strong>Hardware Configuration</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>CPU</strong>: Intel i7-8700 @ 3.20GHz</p></li>
|
||||
<li><p><strong>Memory</strong>: 24 GB</p></li>
|
||||
<li><p><strong>Storage</strong>: Micron 2200S NVMe 256GB</p></li>
|
||||
<li><p><strong>GPU</strong>: NVIDIA GeForce GTX 1660Ti</p></li>
|
||||
<li><p><strong>OS</strong>: Ubuntu22.04</p></li>
|
||||
</ul>
|
||||
<p><strong>ROS Configuration</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>ROS Version</strong>: ROS2 Humble</p></li>
|
||||
<li><p><strong>SDK Version</strong>: OrbbecSDK_ROS2 v2.2.1</p></li>
|
||||
</ul>
|
||||
<p><strong>Camera Setup</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Devices: 2x Gemini 335, 1x Gemini 336, 1x Gemini 336L</p></li>
|
||||
<li><p>Firmware Version: 1.4.10</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="test-setup">
|
||||
<h3><span class="section-number">6.4.2.4. </span>Test Setup<a class="headerlink" href="#test-setup" title="Link to this heading"></a></h3>
|
||||
<p><strong>Stream Settings:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Depth / IR Left / IR Right: 848×480 @ 30fps</p></li>
|
||||
<li><p>Color: 848×480 @ 30fps</p></li>
|
||||
</ul>
|
||||
<p>Note: The following CPU usage data focuses on <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code>, <code class="docutils literal notranslate"><span class="pre">color_format</span></code> and various filter combinations.</p>
|
||||
</section>
|
||||
<section id="test-results">
|
||||
<h3><span class="section-number">6.4.2.5. </span>Test Results<a class="headerlink" href="#test-results" title="Link to this heading"></a></h3>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>libuvc CPU Usage</th>
|
||||
<th>v4l2 CPU Usage</th>
|
||||
<th>Absolute Change</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>182.8%</td>
|
||||
<td>118.8%</td>
|
||||
<td>-64.0%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>The CPU usage can be significantly reduced with v4l2 backend. In our implementation, v4l2 works without requiring any patches to the Linux kernel, allowing users to easily switch between v4l2 and libuvc and maintaining full compatibility with standard Linux distributions.</p>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Backend</th>
|
||||
<th>MJPG CPU Usage</th>
|
||||
<th>RGB CPU Usage</th>
|
||||
<th>Absolute Change</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>libuvc</td>
|
||||
<td>347.7%</td>
|
||||
<td>182.8%</td>
|
||||
<td>-164.9%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>v4l2</td>
|
||||
<td>170.0%</td>
|
||||
<td>118.8%</td>
|
||||
<td>-51.2%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>The CPU usage can be reduced if the RGB format is selected instead of MJPG, since the decoding of MJPG image will consume the host CPU resource.</p>
|
||||
<p><strong>Filter Configuration Impact</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Filters Applied</th>
|
||||
<th>libuvc CPU Usage</th>
|
||||
<th>CPU Usage Increase</th>
|
||||
<th>v4l2 CPU Usage</th>
|
||||
<th>CPU Usage Increase</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>No Filter (benchmark)</td>
|
||||
<td>182.8%</td>
|
||||
<td>0.0%(benchmark)</td>
|
||||
<td>118.8%</td>
|
||||
<td>0.0%(benchmark)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>(software)noise_removal_filter</code></td>
|
||||
<td>218.0%</td>
|
||||
<td>+35.2%</td>
|
||||
<td>128.5%</td>
|
||||
<td>+9.7%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>(software)noise_removal_filter + spatial_filter</code></td>
|
||||
<td>469.6%</td>
|
||||
<td>+286.8%</td>
|
||||
<td>336.7%</td>
|
||||
<td>+217.9%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>hardware_noise_removal_filter</code></td>
|
||||
<td>186.3%</td>
|
||||
<td>+3.5%</td>
|
||||
<td>115.4%</td>
|
||||
<td>-3.4%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>hardware_noise_removal_filter + spatial_filter</code></td>
|
||||
<td>251.3%</td>
|
||||
<td>+68.5%</td>
|
||||
<td>152.5%</td>
|
||||
<td>+33.7%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>Based on the test results, using only the <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code> results in a negligible change in CPU usage for both <code class="docutils literal notranslate"><span class="pre">libuvc</span></code> (+3.5%) and <code class="docutils literal notranslate"><span class="pre">v4l2</span></code> (-3.4%) compared to the no-filter benchmark, as this filter runs internally on the camera hardware. In contrast, other filters execute on the host system. Adding the <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> to the hardware filter leads to a moderate increase in CPU usage, while applying the software-based <code class="docutils literal notranslate"><span class="pre">noise_removal_filter</span></code> —either alone or combined with <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> —significantly increases CPU load. To maintain low CPU usage, it is recommended to avoid software-based filters and rely solely on the <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code>.</p>
|
||||
</section>
|
||||
<section id="further-optimizationa">
|
||||
<h3><span class="section-number">6.4.2.6. </span>Further Optimizationa<a class="headerlink" href="#further-optimizationa" title="Link to this heading"></a></h3>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Parameter</th>
|
||||
<th>Recommendation</th>
|
||||
<th>Note</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td><code>depth_registration</code></td>
|
||||
<td><code>false</code> or <code>true</code> with <code>align_mode=HW</code></td>
|
||||
<td>Software alignment consumes more CPU</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>enable_point_cloud</code></td>
|
||||
<td><code>false</code></td>
|
||||
<td>Disabling point cloud reduces CPU usage</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>enable_colored_point_cloud</code></td>
|
||||
<td><code>false</code></td>
|
||||
<td>Disabling colored point cloud reduces CPU usage</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></section>
|
||||
</section>
|
||||
<section id="efficient-intra-process-communication">
|
||||
<h2><span class="section-number">6.4.3. </span>Efficient intra-process communication<a class="headerlink" href="#efficient-intra-process-communication" title="Link to this heading"></a></h2>
|
||||
<section id="introduction">
|
||||
<h3><span class="section-number">6.4.3.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h3>
|
||||
<p>Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on image/pointcloud topics, especially with big frame resolutions and high FPS.</p>
|
||||
<p>You will need to launch a component container and launch our node as a component together with other component nodes. Further details on “Composing multiple nodes in a single process” can be found <a class="reference external" href="https://docs.ros.org/en/rolling/Tutorials/Composition.html">here</a>.</p>
|
||||
<p>Further details on efficient intra-process communication can be found <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication">here</a>.</p>
|
||||
</section>
|
||||
<section id="example">
|
||||
<h3><span class="section-number">6.4.3.2. </span>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h3>
|
||||
<p><strong>Manually loading multiple components into the same process</strong></p>
|
||||
<ul>
|
||||
<li><p>Start the component:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>rclcpp_components<span class="w"> </span>component_container
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p>Add the wrapper:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>component<span class="w"> </span>load<span class="w"> </span>/ComponentManager<span class="w"> </span>orbbec_camera<span class="w"> </span>orbbec_camera::OBCameraNodeDriver<span class="w"> </span>-e<span class="w"> </span>use_intra_process_comms:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>Load other component nodes (consumers of the wrapper topics) in the same way.</p>
|
||||
</li>
|
||||
</ul>
|
||||
<p><strong>Using a launch file</strong></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_intra_process_demo_launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Limitations</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Node components are currently not supported on RCLPY</p></li>
|
||||
<li><p>Compressed images using <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> will be disabled as this isn’t supported with intra-process communication</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
<section id="fast-dds-optimization-for-orbbec-camera-with-ros2">
|
||||
<h2><span class="section-number">6.4.4. </span>Fast DDS Optimization for Orbbec Camera with ROS2<a class="headerlink" href="#fast-dds-optimization-for-orbbec-camera-with-ros2" title="Link to this heading"></a></h2>
|
||||
<p>When operating with the default configuration, Fast DDS exhibits suboptimal transmission efficiency, resulting in
|
||||
significant image transmission delays when used with the Orbbec camera in ROS2. This document provides guidance on
|
||||
optimizing Fast DDS to enhance image transfer efficiency.</p>
|
||||
<section id="adjusting-system-parameters">
|
||||
<h3><span class="section-number">6.4.4.1. </span>Adjusting System Parameters<a class="headerlink" href="#adjusting-system-parameters" title="Link to this heading"></a></h3>
|
||||
<p><strong>IP Fragmentation Time</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>Path</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_time</span></code> (default: 30 seconds)</p></li>
|
||||
<li><p><strong>Purpose</strong>: Defines the duration that IP fragments are kept in memory.</p></li>
|
||||
<li><p><strong>Adjustment</strong>: Decrease this value to reduce the time window where no fragments are received, which can help reduce
|
||||
delays. Consider the specific needs of your environment as this setting affects all incoming fragments.</p>
|
||||
<p><strong>Example</strong>: Set to 3 seconds.</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_time<span class="o">=</span><span class="m">3</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<p><strong>IP Fragmentation Memory Threshold</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>Path</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_high_thresh</span></code> (default: 262144 bytes)</p></li>
|
||||
<li><p><strong>Purpose</strong>: Sets the maximum memory used to reassemble IP fragments.</p></li>
|
||||
<li><p><strong>Adjustment</strong>: Increase this value to allow more memory for fragment reassembly, which can improve handling of larger
|
||||
data packets.</p>
|
||||
<p><strong>Example</strong>: Increase to 128 MB.</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_high_thresh<span class="o">=</span><span class="m">134217728</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<p><strong>Maximum Buffer Sizes</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>Purpose</strong>: Configures the maximum buffer sizes for receiving and sending data, which is critical for high-throughput
|
||||
data transmission.</p></li>
|
||||
<li><p><strong>Adjustment</strong>: Set the maximum buffer sizes for both receiving and sending operations.</p>
|
||||
<p><strong>Commands</strong>:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<p>Alternatively, make these settings permanent by adding them to the <code class="docutils literal notranslate"><span class="pre">/etc/sysctl.d/10-fastrtps-max.conf</span></code> file.</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>gedit<span class="w"> </span>/etc/sysctl.d/10-fastrtps-max.conf
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>add blow lines to the file:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>then save and exit the file. run <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">sysctl</span> <span class="pre">-p</span></code> to apply the changes.</p>
|
||||
<p>For detailed guidance, refer
|
||||
to <a class="reference external" href="https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html">ROS 2 DDS Tuning Documentation</a>.</p>
|
||||
</section>
|
||||
<section id="fast-dds-configuration">
|
||||
<h3><span class="section-number">6.4.4.2. </span>Fast DDS Configuration<a class="headerlink" href="#fast-dds-configuration" title="Link to this heading"></a></h3>
|
||||
<p>Below is an example of a Fast DDS configuration file optimized for ROS2 usage with the Orbbec camera. This configuration
|
||||
enhances the overall data transmission by adjusting buffer sizes and transport settings.</p>
|
||||
<p><strong>Configuration File:</strong> <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></p>
|
||||
<p>Place this file in the <code class="docutils literal notranslate"><span class="pre">$HOME</span></code> directory.</p>
|
||||
<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="cp"><?xml version="1.0" encoding="UTF-8"?></span>
|
||||
<span class="nt"><profiles</span><span class="w"> </span><span class="na">xmlns=</span><span class="s">"http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><transport_descriptors></span>
|
||||
<span class="w"> </span><span class="nt"><transport_descriptor></span>
|
||||
<span class="w"> </span><span class="nt"><transport_id></span>UDP_transport<span class="nt"></transport_id></span>
|
||||
<span class="w"> </span><span class="nt"><type></span>UDPv4<span class="nt"></type></span>
|
||||
<span class="w"> </span><span class="nt"><maxInitialPeersRange></span>10<span class="nt"></maxInitialPeersRange></span>
|
||||
<span class="w"> </span><span class="nt"><maxMessageSize></span>65000<span class="nt"></maxMessageSize></span>
|
||||
<span class="w"> </span><span class="nt"><sendBufferSize></span>1048576<span class="nt"></sendBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"><receiveBufferSize></span>1048576<span class="nt"></receiveBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"></transport_descriptor></span>
|
||||
<span class="w"> </span><span class="nt"></transport_descriptors></span>
|
||||
<span class="w"> </span><span class="nt"><participant</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">"participant_profile_ros2"</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">"true"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><rtps></span>
|
||||
<span class="w"> </span><span class="nt"><name></span>profile_for_ros2_context<span class="nt"></name></span>
|
||||
<span class="w"> </span><span class="nt"><userTransports></span>
|
||||
<span class="w"> </span><span class="nt"><transport_id></span>UDP_transport<span class="nt"></transport_id></span>
|
||||
<span class="w"> </span><span class="nt"></userTransports></span>
|
||||
<span class="w"> </span><span class="nt"><useBuiltinTransports></span>false<span class="nt"></useBuiltinTransports></span>
|
||||
<span class="w"> </span><span class="nt"><sendSocketBufferSize></span>1048576<span class="nt"></sendSocketBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"><listenSocketBufferSize></span>1048576<span class="nt"></listenSocketBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"><builtin></span>
|
||||
<span class="w"> </span><span class="nt"><initialPeersList></span>
|
||||
<span class="w"> </span><span class="nt"><locator></span>
|
||||
<span class="w"> </span><span class="nt"><udpv4></span>
|
||||
<span class="w"> </span><span class="nt"><address></span>127.0.0.1<span class="nt"></address></span>
|
||||
<span class="w"> </span><span class="nt"></udpv4></span>
|
||||
<span class="w"> </span><span class="nt"></locator></span>
|
||||
<span class="w"> </span><span class="nt"></initialPeersList></span>
|
||||
<span class="w"> </span><span class="nt"></builtin></span>
|
||||
<span class="w"> </span><span class="nt"></rtps></span>
|
||||
<span class="w"> </span><span class="nt"></participant></span>
|
||||
<span class="w"> </span><span class="nt"><data_writer</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">"default publisher profile"</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">"true"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><qos></span>
|
||||
<span class="w"> </span><span class="nt"><publishMode></span>
|
||||
<span class="w"> </span><span class="nt"><kind></span>ASYNCHRONOUS<span class="nt"></kind></span>
|
||||
<span class="w"> </span><span class="nt"></publishMode></span>
|
||||
<span class="w"> </span><span class="nt"><latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"><duration></span>
|
||||
<span class="w"> </span><span class="nt"><sec></span>0<span class="nt"></sec></span>
|
||||
<span class="w"> </span><span class="nt"><nanosec></span>1000000<span class="nt"></nanosec></span>
|
||||
<span class="w"> </span><span class="nt"></duration></span>
|
||||
<span class="w"> </span><span class="nt"></latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"></qos></span>
|
||||
<span class="w"> </span><span class="nt"><historyMemoryPolicy></span>PREALLOCATED_WITH_REALLOC<span class="nt"></historyMemoryPolicy></span>
|
||||
<span class="w"> </span><span class="nt"></data_writer></span>
|
||||
<span class="w"> </span><span class="nt"><data_reader</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">"default subscription profile"</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">"true"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><qos></span>
|
||||
<span class="w"> </span><span class="nt"><data_sharing></span>
|
||||
<span class="w"> </span><span class="nt"><kind></span>AUTOMATIC<span class="nt"></kind></span>
|
||||
<span class="w"> </span><span class="nt"></data_sharing></span>
|
||||
<span class="w"> </span><span class="nt"><latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"><duration></span>
|
||||
<span class="w"> </span><span class="nt"><sec></span>0<span class="nt"></sec></span>
|
||||
<span class="w"> </span><span class="nt"><nanosec></span>1000000<span class="nt"></nanosec></span>
|
||||
<span class="w"> </span><span class="nt"></duration></span>
|
||||
<span class="w"> </span><span class="nt"></latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"></qos></span>
|
||||
<span class="w"> </span><span class="nt"><historyMemoryPolicy></span>PREALLOCATED_WITH_REALLOC<span class="nt"></historyMemoryPolicy></span>
|
||||
<span class="w"> </span><span class="nt"></data_reader></span>
|
||||
<span class="nt"></profiles></span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Environment Variables</strong></p>
|
||||
<p>Set the following environment variables to use the custom Fast DDS profile:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">export</span><span class="w"> </span><span class="nv">RMW_IMPLEMENTATION</span><span class="o">=</span>rmw_fastrtps_cpp
|
||||
<span class="nb">export</span><span class="w"> </span><span class="nv">FASTRTPS_DEFAULT_PROFILES_FILE</span><span class="o">=</span><span class="nv">$HOME</span>/shm_fastdds.xml
|
||||
<span class="nb">export</span><span class="w"> </span><span class="nv">RMW_FASTRTPS_USE_QOS_FROM_XML</span><span class="o">=</span><span class="m">1</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>This configuration aims to optimize the data flow and reduce transmission delays, improving the responsiveness and
|
||||
reliability of the Orbbec camera system in a ROS2 environment.</p>
|
||||
</section>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
@@ -757,7 +396,7 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
@@ -1,401 +0,0 @@
|
||||
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" data-content_root="../../../">
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>Ob_benchmark tool — OrbbecSDK V2 ROS2 Wrapper documentation</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=a2eacb60" />
|
||||
|
||||
|
||||
<link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
|
||||
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
|
||||
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
|
||||
<script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
|
||||
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
|
||||
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
|
||||
<script src="../../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../../../genindex.html" />
|
||||
<link rel="search" title="Search" href="../../../search.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../../index.html" class="icon icon-home">
|
||||
OrbbecSDK V2 ROS2 Wrapper
|
||||
</a>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
|
||||
<li class="toctree-l3"><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-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><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-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item active">Ob_benchmark tool</li>
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<a href="../../../_sources/source/6_benchmark/performance/benchmark.md.txt" rel="nofollow"> View page source</a>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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||||
<section id="ob-benchmark-tool">
|
||||
<h1>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h1>
|
||||
<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">
|
||||
<h2>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></h2>
|
||||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"start_benchmark_params"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"camera_name"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||||
<span class="w"> </span><span class="s2">"camera_01"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_02"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_03"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_04"</span>
|
||||
<span class="w"> </span><span class="p">],</span>
|
||||
<span class="w"> </span><span class="nt">"process_name"</span><span class="p">:</span><span class="w"> </span><span class="s2">"component_conta"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"switch_cycle"</span><span class="p">:</span><span class="w"> </span><span class="mi">300</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"test_cycle"</span><span class="p">:</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"skip_number"</span><span class="p">:</span><span class="w"> </span><span class="mi">30</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">camera_name</span></code>: Names of the cameras to be configured. Example: <code class="docutils literal notranslate"><span class="pre">"camera_01"</span></code>, <code class="docutils literal notranslate"><span class="pre">"camera_02"</span></code>, etc.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">process_name</span></code>: The name of the process to be monitored. For example, <code class="docutils literal notranslate"><span class="pre">"component_conta"</span></code> will monitor the data of the container process.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">switch_cycle</span></code>: The cycle time for switching configurations, in seconds. For example, setting it to <code class="docutils literal notranslate"><span class="pre">300</span></code> means the configuration will switch every 300 seconds.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">test_cycle</span></code>: The testing cycle, in seconds. For example, setting it to <code class="docutils literal notranslate"><span class="pre">1</span></code> means the tool will collect data for the monitored process every 1 second.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">skip_number</span></code>: The number of data points to skip. For example, setting it to <code class="docutils literal notranslate"><span class="pre">30</span></code> means that the first 30 data points will be ignored.</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="camera-configuration-launch-files">
|
||||
<h2>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h2>
|
||||
<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">
|
||||
<h2>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h2>
|
||||
<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
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="output-data-files">
|
||||
<h2>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h2>
|
||||
<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>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">1.csv</span></code> contains data from the <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code> configuration.</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
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|
||||
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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||||
</ul>
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||||
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@@ -373,7 +380,7 @@ bash<span class="w"> </span>.make_deb.sh
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
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@@ -22,7 +22,7 @@
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<link rel="index" title="Index" href="../../genindex.html" />
|
||||
<link rel="search" title="Search" href="../../search.html" />
|
||||
<link rel="next" title="7.1. Building a Debian Package" href="building_a_Debian_Package.html" />
|
||||
<link rel="prev" title="6.4. Performance & Optimization" href="../6_benchmark/performance.html" />
|
||||
<link rel="prev" title="6.4. Other Tools" href="../6_benchmark/othertools.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
@@ -71,7 +71,7 @@
|
||||
</ul>
|
||||
</li>
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||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -88,7 +88,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -149,7 +149,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -169,60 +169,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -245,32 +267,17 @@
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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||||
</ul>
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||||
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@@ -338,7 +345,7 @@
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</div>
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<a href="../6_benchmark/performance.html" class="btn btn-neutral float-left" title="6.4. Performance & Optimization" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="../6_benchmark/othertools.html" class="btn btn-neutral float-left" title="6.4. Other Tools" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="building_a_Debian_Package.html" class="btn btn-neutral float-right" title="7.1. Building a Debian Package" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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@@ -346,7 +353,7 @@
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||||
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||||
<div role="contentinfo">
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||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
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||||
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+75
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@@ -70,7 +70,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -87,7 +87,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -148,7 +148,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -168,60 +168,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -244,32 +266,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -373,7 +380,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+75
-68
@@ -69,7 +69,7 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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>
|
||||
@@ -86,7 +86,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
@@ -147,7 +147,7 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
@@ -167,60 +167,82 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l3"><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-l3"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -243,32 +265,17 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -338,7 +345,7 @@ language governing permissions and limitations under the License.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
<span class="lastupdated">Last updated on 2025-09-26 06:11:25.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user