mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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deploy: orbbec/OrbbecSDK_ROS2@5a6dd5d1b6
This commit is contained in:
obyalian
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<li class="toctree-l1"><a class="reference internal" href="source/1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="source/1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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@@ -86,6 +87,13 @@
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</li>
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||||
</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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||||
</ul>
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||||
</li>
|
||||
</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="source/4_application_guide/application_guide.html">4. Application Guide</a><ul>
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@@ -160,109 +168,128 @@
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
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</ul>
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||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
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</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
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</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
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||||
</ul>
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</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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</ul>
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</li>
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</ul>
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</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
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||||
</ul>
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</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/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-l1"><a class="reference internal" href="source/7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -298,7 +325,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -326,6 +354,13 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -366,46 +401,60 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -423,7 +472,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user