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<li class="toctree-l1 current"><a class="reference internal" href="../index.html">1. Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1.1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.1.3. Support Platforms</a></li>
<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">1.2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3"><a class="reference internal" href="#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><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-l5"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
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<h1><span class="section-number">1.5. </span>Advanced Guide<a class="headerlink" href="#advanced-guide" title="Link to this heading"></a></h1>
<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="performance-optimization">
<h2><span class="section-number">1.5.1. </span>Performance &amp; Optimization<a class="headerlink" href="#performance-optimization" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.1. </span>Performance &amp; 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="performance/lower_cpu_usage.html">1.5.1.1. 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">1.5.1.1.1. 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">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</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="performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</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="performance/fastdds_tuning.html">1.5.1.3. 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">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</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>
</ul>
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</section>
<section id="multi-camera">
<h2><span class="section-number">1.5.2. </span>Multi-Camera<a class="headerlink" href="#multi-camera" title="Link to this heading"></a></h2>
<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">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. 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">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<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">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. 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">1.5.2.2.2. 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">1.5.2.2.3. 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">1.5.2.2.4. Run the following command to start the multi-camera synced</a></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">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<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>
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</div>
</section>
<section id="configuration-modes">
<h2><span class="section-number">1.5.3. </span>Configuration &amp; Modes<a class="headerlink" href="#configuration-modes" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.3. </span>Configuration &amp; 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">1.5.3.1. 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">1.5.3.1.1. 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">1.5.3.1.2. 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">1.5.3.1.3. 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">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l1"><a class="reference internal" href="configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l1"><a class="reference internal" href="configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. 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>
<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">1.5.3.5. 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">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. 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">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l1"><a class="reference internal" href="configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l1"><a class="reference internal" href="configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<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-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1.1. Overview</a><ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
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<h1><span class="section-number">1.5.3.1. </span>Aligning Depth to Color in ROS 2<a class="headerlink" href="#aligning-depth-to-color-in-ros-2" title="Link to this heading"></a></h1>
<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">1.5.3.1.1. </span>Commands to Align and View Depth and Color Images<a class="headerlink" href="#commands-to-align-and-view-depth-and-color-images" title="Link to this heading"></a></h2>
<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>
@@ -423,7 +423,7 @@
</ol>
</section>
<section id="selecting-topics-in-rviz2">
<h2><span class="section-number">1.5.3.1.2. </span>Selecting Topics in RViz2<a class="headerlink" href="#selecting-topics-in-rviz2" title="Link to this heading"></a></h2>
<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>
@@ -433,7 +433,7 @@
</ol>
</section>
<section id="example-of-depth-to-color-overlay">
<h2><span class="section-number">1.5.3.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
<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>
</section>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
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@@ -388,9 +388,9 @@
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<h1><span class="section-number">1.5.3.2. </span>Configuration of depth NFOV and WFOV modes<a class="headerlink" href="#configuration-of-depth-nfov-and-wfov-modes" title="Link to this heading"></a></h1>
<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
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@@ -420,15 +420,15 @@ resolutions is as follows:</p>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
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</li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
</ul>
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</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
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@@ -388,9 +388,9 @@
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
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@@ -388,9 +388,9 @@
<div role="navigation" aria-label="Page navigation">
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<li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">1.5. </span>Advanced Guide</a></li>
<li class="breadcrumb-item active"><span class="section-number">1.5.3.4. </span>Disparity_search_offset</li>
<li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
<li class="breadcrumb-item active"><span class="section-number">5.3.4. </span>Disparity_search_offset</li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt" rel="nofollow"> View page source</a>
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@@ -401,17 +401,17 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="disparity-search-offset">
<h1><span class="section-number">1.5.3.4. </span>Disparity_search_offset<a class="headerlink" href="#disparity-search-offset" title="Link to this heading"></a></h1>
<h1><span class="section-number">5.3.4. </span>Disparity_search_offset<a class="headerlink" href="#disparity-search-offset" title="Link to this heading"></a></h1>
<blockquote>
<div><p>This section describes how to use the disparity_search_offset function in the Gemini330 series cameras (minimum camera firmware version <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>).Disparity_search_offset is effective only for1280×720, 1280×800 and 640×400 resolutions of depth stream.</p>
</div></blockquote>
<section id="function-introduction">
<h2><span class="section-number">1.5.3.4.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.3.4.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
<p>The definition of disparity search range: For any pixel <em>(u_l, v)</em> in the left image, by default, the corresponding disparity search range in the right image is <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>, where the disparity search length is 256 and the maximum integer disparity is 255. If the starting point of the search is adjusted to <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>, the offset is defined as the disparity shift. Therefore, our disparity search range configuration includes both the disparity search length and the search position offset (which can also be referred to as the disparity shift).</p>
<p><img alt="Depth Point Cloud Visualization" src="../../../../_images/search_offset0.png" /></p>
</section>
<section id="parameter-introduction">
<h2><span class="section-number">1.5.3.4.2. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.3.4.2. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
<p>The disparity_search_offset related parameters are set in <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code> : Disparity search length,can only be set to 64, 128 and 256.</p></li>
@@ -487,7 +487,7 @@
</tbody>
</table></section>
<section id="run-the-launch">
<h2><span class="section-number">1.5.3.4.3. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.3.4.3. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
<p>Setting the disparity_search_offset parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
</pre></div>
@@ -499,15 +499,15 @@
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
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@@ -388,9 +388,9 @@
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@@ -401,12 +401,12 @@
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="using-interleave-ae-with-gemini330-series-cameras">
<h1><span class="section-number">1.5.3.5. </span>Using interleave_ae with Gemini330 series cameras<a class="headerlink" href="#using-interleave-ae-with-gemini330-series-cameras" title="Link to this heading"></a></h1>
<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">1.5.3.5.1. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.3.5.1. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
<p>The interleave_ae related parameters are set in <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> : Set laser or hdr interleave.</p></li>
@@ -444,7 +444,7 @@
</ul>
</section>
<section id="run-the-launch">
<h2><span class="section-number">1.5.3.5.2. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.3.5.2. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
<p>Setting the interleave_ae parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
</pre></div>
@@ -454,7 +454,7 @@
<p><img alt="Depth Point Cloud Visualization" src="../../../../_images/interleave_ae1.jpeg" /></p>
</section>
<section id="multi-camera-synced-interleave-ae">
<h2><span class="section-number">1.5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
<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>
</section>
</section>
@@ -463,15 +463,15 @@
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</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
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@@ -388,9 +388,9 @@
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<h1><span class="section-number">1.5.3.7. </span>Net_camera<a class="headerlink" href="#net-camera" title="Link to this heading"></a></h1>
<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-gemini-335le">
<h2><span class="section-number">1.5.3.7.1. </span>Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.3.7.1. </span>Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
<p><strong>Parameter Introduction</strong></p>
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> is set to true, which will automatically enumerate network devices.</p>
<p>If you do not want to automatically enumerate network devices,you can set <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> to false, <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the device’s IP address, and <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
@@ -441,7 +441,7 @@
</div>
</section>
<section id="set-device-ip-utility">
<h2><span class="section-number">1.5.3.7.2. </span>set_device_ip Utility<a class="headerlink" href="#set-device-ip-utility" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.3.7.2. </span>set_device_ip Utility<a class="headerlink" href="#set-device-ip-utility" title="Link to this heading"></a></h2>
<p>The <strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> executable allows you to configure the IP settings of a network camera directly from ROS 2, including switching between DHCP and static IP, and setting subnet mask and gateway. This is useful for quickly assigning or updating IP addresses without modifying launch files.</p>
<blockquote>
<div><p><strong>Note:</strong> The IP settings applied with <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> are <strong>permanent</strong> and <strong>will not be reset</strong> if the device is powered off or restarted.</p>
@@ -465,7 +465,7 @@
</ul>
</section>
<section id="force-ip-function">
<h2><span class="section-number">1.5.3.7.3. </span>Force IP Function<a class="headerlink" href="#force-ip-function" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.3.7.3. </span>Force IP Function<a class="headerlink" href="#force-ip-function" title="Link to this heading"></a></h2>
<p>The <strong>Force IP</strong> feature allows you to assign a <strong>static IP address</strong> to a network camera, overriding DHCP settings. This is useful when multiple network cameras are connected, and you need each device to have a fixed IP for reliable communication.</p>
<blockquote>
<div><p><strong>Note:</strong> The Force IP configuration <strong>will be reset if the device is powered off or restarted</strong>. You need to reapply the settings after reboot.</p>
@@ -502,15 +502,15 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.1.3. Support Platforms</a></li>
<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_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-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><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-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
</ul>
</li>
</ul>
@@ -388,9 +388,9 @@
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="gmsl-camera">
<h1><span class="section-number">1.5.2.4. </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 and Gemini 345Lg, 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">1.5.2.4.1. </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">1.5.2.4.2. </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>
@@ -429,7 +429,7 @@
</div></blockquote>
</section>
<section id="multi-gmsl-camera-synced">
<h2><span class="section-number">1.5.2.4.3. </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>
<p><strong>Additional Parameter Settings</strong></p>
@@ -447,7 +447,7 @@
</div></blockquote>
</section>
<section id="usage-limitations-of-gmsl-cameras">
<h2><span class="section-number">1.5.2.4.4. </span>Usage Limitations of GMSL Cameras<a class="headerlink" href="#usage-limitations-of-gmsl-cameras" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.2.4.4. </span>Usage Limitations of GMSL Cameras<a class="headerlink" href="#usage-limitations-of-gmsl-cameras" title="Link to this heading"></a></h2>
<p><a class="reference external" href="https://github.com/orbbec/MIPI_Camera_Platform_Driver/tree/main?tab=readme-ov-file#usage-limitations-of-gmsl-cameras"></a></p>
<p>GMSL cameras interface with various deserializer chips such as MAX9296 and MAX92716. Orbbec GMSL cameras support multiple streams including depth, color, IR, and IMU data, but certain usage limitations apply:</p>
<ul class="simple">
@@ -470,15 +470,15 @@
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<span class="lastupdated">Last updated on 2026-01-04 01:26:40.
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</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul class="current">
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_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-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><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-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
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@@ -388,9 +388,9 @@
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@@ -401,7 +401,7 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="multi-camera">
<h1><span class="section-number">1.5.2.1. </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>
@@ -466,7 +466,7 @@ 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">1.5.2.1.1. </span>No Data Stream from Multiple Cameras<a class="headerlink" href="#no-data-stream-from-multiple-cameras" title="Link to this heading"></a></h2>
<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>
@@ -489,7 +489,7 @@ 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">1.5.2.1.2. </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>
<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>
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@@ -498,15 +498,15 @@ by running the following command:</p></li>
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:26:40.
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
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@@ -6,7 +6,7 @@
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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</li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><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-l5"><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-l4 current"><a class="current reference internal" href="#">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><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-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
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@@ -388,9 +388,9 @@
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@@ -401,12 +401,12 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="multi-camera-synced-instructions">
<h1><span class="section-number">1.5.2.2. </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">1.5.2.2.1. </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>
@@ -414,13 +414,13 @@
<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">1.5.2.2.2. </span>Checking camera port with OrbbecSDK_ROS2<a class="headerlink" href="#checking-camera-port-with-orbbecsdk-ros2" title="Link to this heading"></a></h2>
<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">1.5.2.2.3. </span>OrbbecSDK_ROS2 multi-camera synced configuration<a class="headerlink" href="#orbbecsdk-ros2-multi-camera-synced-configuration" title="Link to this heading"></a></h2>
<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">
@@ -475,7 +475,7 @@
</ul>
</section>
<section id="run-the-following-command-to-start-the-multi-camera-synced">
<h2><span class="section-number">1.5.2.2.4. </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>
<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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@@ -486,15 +486,15 @@
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</li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="multi_camera_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-l4 current"><a class="current reference internal" href="#">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><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-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
</ul>
</li>
</ul>
@@ -388,9 +388,9 @@
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="multi-camera-synchronization-verification-node">
<h1><span class="section-number">1.5.2.3. </span>Multi-Camera Synchronization Verification Node<a class="headerlink" href="#multi-camera-synchronization-verification-node" title="Link to this heading"></a></h1>
<h1><span class="section-number">5.2.3. </span>Multi-Camera Synchronization Verification Node<a class="headerlink" href="#multi-camera-synchronization-verification-node" title="Link to this heading"></a></h1>
<p><strong>File path:</strong> <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp">image_sync_example_node.cpp</a></p>
<p>This example node is designed for <strong>synchronized capture and timestamp verification</strong> across <strong>four Orbbec cameras</strong>.
It can be used to validate frame alignment accuracy under the multi-camera <strong>Primary / Secondary Synced</strong> mode.</p>
<hr class="docutils" />
<section id="usage-guide">
<h2><span class="section-number">1.5.2.3.1. </span>Usage Guide<a class="headerlink" href="#usage-guide" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.2.3.1. </span>Usage Guide<a class="headerlink" href="#usage-guide" title="Link to this heading"></a></h2>
<section id="modify-multi-camera-synced-launch-py-as-follows">
<h3><span class="section-number">1.5.2.3.1.1. </span><strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong><a class="headerlink" href="#modify-multi-camera-synced-launch-py-as-follows" title="Link to this heading"></a></h3>
<h3><span class="section-number">5.2.3.1.1. </span><strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong><a class="headerlink" href="#modify-multi-camera-synced-launch-py-as-follows" title="Link to this heading"></a></h3>
<ul>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">launch_include</span></code> to support four cameras.</p></li>
<li><p>Select the appropriate launch file based on your camera model.
@@ -429,7 +429,7 @@ The <strong>Primary camera should always be launched last</strong> to ensure the
</section>
<hr class="docutils" />
<section id="modify-configuration-files">
<h3><span class="section-number">1.5.2.3.1.2. </span><strong>Modify configuration files</strong><a class="headerlink" href="#modify-configuration-files" title="Link to this heading"></a></h3>
<h3><span class="section-number">5.2.3.1.2. </span><strong>Modify configuration files</strong><a class="headerlink" href="#modify-configuration-files" title="Link to this heading"></a></h3>
<p>Edit the following two files under the <code class="docutils literal notranslate"><span class="pre">config</span></code> directory:</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">camera_params.yaml</span></code></p></li>
@@ -443,7 +443,7 @@ The <strong>Primary camera should always be launched last</strong> to ensure the
</section>
<hr class="docutils" />
<section id="launch-and-verification">
<h3><span class="section-number">1.5.2.3.1.3. </span><strong>Launch and Verification</strong><a class="headerlink" href="#launch-and-verification" title="Link to this heading"></a></h3>
<h3><span class="section-number">5.2.3.1.3. </span><strong>Launch and Verification</strong><a class="headerlink" href="#launch-and-verification" title="Link to this heading"></a></h3>
<ul>
<li><p>Start the multi-camera synchronization launch file:</p>
<p><code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">launch</span> <span class="pre">orbbec_camera</span> <span class="pre">multi_camera_synced.launch.py</span></code></p>
@@ -456,7 +456,7 @@ The <strong>Primary camera should always be launched last</strong> to ensure the
</section>
<hr class="docutils" />
<section id="reference-launch-file">
<h3><span class="section-number">1.5.2.3.1.4. </span><strong>Reference Launch File</strong><a class="headerlink" href="#reference-launch-file" title="Link to this heading"></a></h3>
<h3><span class="section-number">5.2.3.1.4. </span><strong>Reference Launch File</strong><a class="headerlink" href="#reference-launch-file" title="Link to this heading"></a></h3>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span><span class="w"> </span><span class="nn">os</span>
<span class="kn">from</span><span class="w"> </span><span class="nn">ament_index_python.packages</span><span class="w"> </span><span class="kn">import</span> <span class="n">get_package_share_directory</span>
<span class="kn">from</span><span class="w"> </span><span class="nn">launch</span><span class="w"> </span><span class="kn">import</span> <span class="n">LaunchDescription</span>
@@ -552,14 +552,14 @@ The <strong>Primary camera should always be launched last</strong> to ensure the
</section>
<hr class="docutils" />
<section id="system-configuration-requirements">
<h2><span class="section-number">1.5.2.3.2. </span>System Configuration Requirements<a class="headerlink" href="#system-configuration-requirements" title="Link to this heading"></a></h2>
<h2><span class="section-number">5.2.3.2. </span>System Configuration Requirements<a class="headerlink" href="#system-configuration-requirements" title="Link to this heading"></a></h2>
<section id="increase-usb-buffer-memory">
<h3><span class="section-number">1.5.2.3.2.1. </span><strong>Increase USB Buffer Memory</strong><a class="headerlink" href="#increase-usb-buffer-memory" title="Link to this heading"></a></h3>
<h3><span class="section-number">5.2.3.2.1. </span><strong>Increase USB Buffer Memory</strong><a class="headerlink" href="#increase-usb-buffer-memory" title="Link to this heading"></a></h3>
<p>Prevent frame drops caused by concurrent data transmission:</p>
<p><code class="docutils literal notranslate"><span class="pre">echo</span> <span class="pre">512</span> <span class="pre">|</span> <span class="pre">sudo</span> <span class="pre">tee</span> <span class="pre">/sys/module/usbcore/parameters/usbfs_memory_mb</span></code></p>
</section>
<section id="configure-fast-dds">
<h3><span class="section-number">1.5.2.3.2.2. </span><strong>Configure Fast DDS</strong><a class="headerlink" href="#configure-fast-dds" title="Link to this heading"></a></h3>
<h3><span class="section-number">5.2.3.2.2. </span><strong>Configure Fast DDS</strong><a class="headerlink" href="#configure-fast-dds" title="Link to this heading"></a></h3>
<p>Optimize ROS2 node communication latency to reduce image transmission delay.
See <a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">this section</span></a> for detailed configuration instructions.</p>
</section>
@@ -570,15 +570,15 @@ See <a class="reference internal" href="../performance/fastdds_tuning.html"><spa
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><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-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><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-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
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<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>
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<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>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul class="current">
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><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-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
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@@ -388,9 +388,9 @@
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<li class="breadcrumb-item active"><span class="section-number">1.5.1.3. </span>Fast DDS Optimization for Orbbec Camera with ROS2</li>
<li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
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@@ -401,12 +401,12 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="fast-dds-optimization-for-orbbec-camera-with-ros2">
<h1><span class="section-number">1.5.1.3. </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>
<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><span class="section-number">1.5.1.3.1. </span>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>
@@ -461,7 +461,7 @@ 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><span class="section-number">1.5.1.3.2. </span>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>
@@ -545,15 +545,15 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:26:40.
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
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<title>1.5.1.1. Reducing CPU Usage with Orbbec ROS Package &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<ul class="current">
<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1.1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.1.3. Support Platforms</a></li>
<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">1.4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. Advanced Guide</a><ul class="current">
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul class="current">
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul class="current">
<li class="toctree-l4 current"><a class="current reference internal" href="#">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><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-l5"><a class="reference internal" href="#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><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-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><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-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><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-l5"><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-l4"><a class="reference internal" href="../configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
</ul>
</li>
</ul>
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<li class="breadcrumb-item active"><span class="section-number">1.5.1.1. </span>Reducing CPU Usage with Orbbec ROS Package</li>
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<h1><span class="section-number">1.5.1.1. </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>
<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><span class="section-number">1.5.1.1.1. </span>Recommended Settings for Lower CPU Usage<a class="headerlink" href="#recommended-settings-for-lower-cpu-usage" title="Link to this heading"></a></h2>
<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>
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</table></section>
<section id="launch-files-used-for-testing">
<h2><span class="section-number">1.5.1.1.2. </span>Launch Files Used for Testing<a class="headerlink" href="#launch-files-used-for-testing" title="Link to this heading"></a></h2>
<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><span class="section-number">1.5.1.1.3. </span>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 &#64; 3.20GHz</p></li>
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</ul>
</section>
<section id="test-setup">
<h2><span class="section-number">1.5.1.1.4. </span>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 &#64; 30fps</p></li>
@@ -471,7 +471,7 @@
<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><span class="section-number">1.5.1.1.5. </span>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>
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</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><span class="section-number">1.5.1.1.6. </span>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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