mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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deploy: orbbec/OrbbecSDK_ROS2@5a6dd5d1b6
This commit is contained in:
obyalian
@@ -48,7 +48,8 @@
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<li class="toctree-l1 current"><a class="reference internal" href="overview.html">1. Overview</a><ul class="current">
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<li class="toctree-l2 current"><a class="current reference internal" href="#">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#support-platforms">1.1.2. Support Platforms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#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="orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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@@ -87,6 +88,13 @@
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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="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../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>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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@@ -161,109 +169,128 @@
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/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="../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="../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="../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="../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="../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="../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="../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="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
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</ul>
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</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/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="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
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</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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</ul>
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</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-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -424,6 +451,7 @@
|
||||
<h2><span class="section-number">1.1.1. </span>Support Hardware Products<a class="headerlink" href="#support-hardware-products" title="Link to this heading"></a></h2>
|
||||
<p>The following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">main</a> branch.</p>
|
||||
<p>For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.</p>
|
||||
<p>To learn how to obtain and upgrade the latest firmware, <a class="reference internal" href="../3_quickstarts/orbbecviewer.html"><span class="doc">please click here</span></a>.</p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
@@ -512,8 +540,97 @@
|
||||
</table><p>All launch files are essentially similar, with the primary difference being the default values of the parameters set
|
||||
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.</p>
|
||||
</section>
|
||||
<section id="orbbec-camera-datasheet">
|
||||
<h2><span class="section-number">1.1.2. </span>Orbbec camera datasheet<a class="headerlink" href="#orbbec-camera-datasheet" title="Link to this heading"></a></h2>
|
||||
<p>Refer to the camera datasheet for more information.</p>
|
||||
<style>
|
||||
table {
|
||||
border-collapse: collapse;
|
||||
width: 100%;
|
||||
}
|
||||
th, td {
|
||||
border: 1px solid #ccc;
|
||||
padding: 8px;
|
||||
text-align: left;
|
||||
vertical-align: middle;
|
||||
}
|
||||
thead th {
|
||||
background-color: #1f4e78;
|
||||
color: white;
|
||||
text-align: center;
|
||||
vertical-align: middle;
|
||||
}
|
||||
</style><table>
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Product Series</th>
|
||||
<th>Product</th>
|
||||
<th>Datasheet</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;">Gemini 435Le</td>
|
||||
<td>Gemini 435Le</td>
|
||||
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/06/04011158/Orbbec-Gemini-435Le-Datasheet-V1.pdf">Orbbec Gemini 435Le Datasheet</a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;" rowspan="6">Gemini 330</td>
|
||||
<td>Gemini 335</td>
|
||||
<td rowspan="4"><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/04/22062452/Gemini-330-series-Datasheet-V1.6.pdf">Gemini 330 Series Datasheet for USB Devices</a></td>
|
||||
</tr>
|
||||
<tr><td>Gemini 336</td></tr>
|
||||
<tr><td>Gemini 335L</td></tr>
|
||||
<tr><td>Gemini 336L</td></tr>
|
||||
<tr>
|
||||
<td>Gemini 335Lg</td>
|
||||
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2024/10/22030914/Gemini-335Lg-Datasheet-V1.0-241022.pdf">Gemini 330 Series Datasheet for GMSL Devices</a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335Le</td>
|
||||
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/03/24023151/Orbbec-Gemini-335Le-Datasheet-V1-2.pdf">Gemini 330 Series Datasheet for Ethernet Devices</a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;" rowspan="3">Gemini 2</td>
|
||||
<td>Gemini 2</td>
|
||||
<td rowspan="2"><a href="https://xm917ch2uk.feishu.cn/file/Khxfb2vdioUghexIMqJcAyL3nXf">Orbbec Gemini 2 Series Datasheet</a></td>
|
||||
</tr>
|
||||
<tr><td>Gemini 2 L</td></tr>
|
||||
<tr>
|
||||
<td>Gemini 2 XL</td>
|
||||
<td><a href="https://xm917ch2uk.feishu.cn/file/QW2vbNvwxoocRIxSL6Zcvut2npS">Orbbec Gemini 2 XL Datasheet</a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;" rowspan="3">Femto</td>
|
||||
<td>Femto Bolt</td>
|
||||
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2024/08/ORBBEC_Datasheet_Femto-Bolt-v1.0.pdf">Orbbec Femto Bolt Datasheet</a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega</td>
|
||||
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Femto-Mega1.pdf">Orbbec Femto Mega Datasheet</a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega I</td>
|
||||
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/08/ORBBEC_Datasheet_Femto-Mega-I.pdf">Orbbec Femto Mega I Datasheet</a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;" rowspan="3">Astra</td>
|
||||
<td>Astra 2</td>
|
||||
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-2_V1.2.pdf">Orbbec Astra 2 Datasheet</a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Astra+</td>
|
||||
<td><a href="https://xm917ch2uk.feishu.cn/file/Qk0zbx26Doh8XMxw0rIcOgQYnff">Orbbec Astra+ Datasheet</a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Astra Mini Pro</td>
|
||||
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-Mini-Pro-1.pdf">Orbbec Astra Mini Pro Datasheet</a></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></section>
|
||||
<hr class="docutils" />
|
||||
<section id="support-platforms">
|
||||
<h2><span class="section-number">1.1.2. </span>Support Platforms<a class="headerlink" href="#support-platforms" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.1.3. </span>Support Platforms<a class="headerlink" href="#support-platforms" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p>Linux x64: tested on Ubuntu 22.04</p></li>
|
||||
<li><p>Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX</p></li>
|
||||
@@ -533,7 +650,7 @@ for different models within the same series. Differences in USB standards, such
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="overview.html">1. Overview</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -488,7 +515,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
+108
-80
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -299,7 +326,8 @@
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -325,7 +353,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -353,7 +380,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -319,7 +346,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
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||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
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</ul>
|
||||
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||||
</ul>
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||||
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<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
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</ul>
|
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</li>
|
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</ul>
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@@ -317,7 +344,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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OrbbecSDK V2 ROS2 Wrapper
|
||||
</a>
|
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<div role="search">
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<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. Quickstarts</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
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||||
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<a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="quickstarts.html"><span class="section-number">3. </span>Quickstarts</a></li>
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<li class="breadcrumb-item active"><span class="section-number">3.2. </span>OrbbecViewer tutorial</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/source/3_quickstarts/orbbecviewer.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
|
||||
|
||||
<section id="orbbecviewer-tutorial">
|
||||
<h1><span class="section-number">3.2. </span>OrbbecViewer tutorial<a class="headerlink" href="#orbbecviewer-tutorial" title="Link to this heading"></a></h1>
|
||||
<section id="download">
|
||||
<h2><span class="section-number">3.2.1. </span>Download<a class="headerlink" href="#download" title="Link to this heading"></a></h2>
|
||||
<p><strong>Repository link：</strong><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_v2/releases">OrbbecViewer Download</a></p>
|
||||
<p>Select the appropriate version of OrbbecViewer according to your device type.</p>
|
||||
<p><img alt="orbbecviewer" src="../../_images/orbbecviewer1.png" /></p>
|
||||
</section>
|
||||
<section id="connect-the-device">
|
||||
<h2><span class="section-number">3.2.2. </span>Connect the device<a class="headerlink" href="#connect-the-device" title="Link to this heading"></a></h2>
|
||||
<p>When the Orbbec Viewer is open, the current device connection status will be prominently displayed in the top left corner of the application window. This area provides instant feedback about whether the camera is connected and functioning properly.</p>
|
||||
<p><img alt="orbbecviewer" src="../../_images/orbbecviewer2.png" /></p>
|
||||
</section>
|
||||
<section id="camera-control">
|
||||
<h2><span class="section-number">3.2.3. </span>Camera Control<a class="headerlink" href="#camera-control" title="Link to this heading"></a></h2>
|
||||
<p>You can quickly view the image using the buttons at the top of the window, and adjust image parameters in the camera panel on the left side of the window.</p>
|
||||
<p><img alt="orbbecviewer" src="../../_images/orbbecviewer3.png" /></p>
|
||||
</section>
|
||||
<section id="device-information-and-firmware-upgrade">
|
||||
<h2><span class="section-number">3.2.4. </span>Device information and firmware upgrade<a class="headerlink" href="#device-information-and-firmware-upgrade" title="Link to this heading"></a></h2>
|
||||
<p>Click the icon at the bottom left corner of the window to view the current camera information and upgrade the firmware.</p>
|
||||
<p><img alt="orbbecviewer" src="../../_images/orbbecviewer4.png" /></p>
|
||||
<p>Please refer to the list below for the latest camera firmware. <a class="reference external" href="https://www.orbbec.com/docs/g330-explore-camera-functions-in-orbbec-viewer/">For more information, please click here.</a></p>
|
||||
<p><strong>Repository link：</strong><a class="reference external" href="https://github.com/orbbec/OrbbecFirmware?tab=readme-ov-file#firmware-download">Firmware Download</a></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th><strong>Products list</strong></th>
|
||||
<th><strong>Download link</strong></th>
|
||||
<th>Latest version</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>Femto Bolt</td>
|
||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware">Femto Bolt Firmware</a></td>
|
||||
<td>v1.1.2</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega</td>
|
||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware">Femto Mega Firmware</a></td>
|
||||
<td>v1.3.1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 2</td>
|
||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware">Gemini 2 Firmware</a></td>
|
||||
<td>v1.4.98</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 2 L</td>
|
||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware">Gemini 2L Firmware</a></td>
|
||||
<td>v1.5.02</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega I</td>
|
||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware">Femto Mega I Firmware</a></td>
|
||||
<td>v2.0.4</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 330 series</td>
|
||||
<td><a href="https://www.orbbec.com/docs/g330-firmware-release/?_gl=1">Gemini 330 series Firmware</a></td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 215</td>
|
||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware">Gemini 215</a></td>
|
||||
<td>v1.0.9</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 210</td>
|
||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware">Gemini 210</a></td>
|
||||
<td>v1.0.9</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 435Le</td>
|
||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">Gemini 435Le</a></td>
|
||||
<td>v1.3.2</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></section>
|
||||
</section>
|
||||
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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@@ -48,7 +48,8 @@
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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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-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
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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="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
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@@ -388,14 +415,14 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<a href="quickstarts.html" class="btn btn-neutral float-left" title="3. Quickstarts" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="../4_application_guide/application_guide.html" class="btn btn-neutral float-right" title="4. Application Guide" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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<a href="orbbecviewer.html" class="btn btn-neutral float-right" title="3.2. OrbbecViewer tutorial" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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</div>
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@@ -48,7 +48,8 @@
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
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||||
</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-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -303,6 +330,13 @@
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||||
<li class="toctree-l2"><a class="reference internal" href="quickstart.html#sample-features">3.1.3. Sample Features</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
@@ -319,7 +353,7 @@
|
||||
|
||||
<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>
|
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</div>
|
||||
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||||
@@ -22,7 +22,7 @@
|
||||
<link rel="index" title="Index" href="../../genindex.html" />
|
||||
<link rel="search" title="Search" href="../../search.html" />
|
||||
<link rel="next" title="4.1. Launch parameters" href="launch_parameters.html" />
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||||
<link rel="prev" title="3.1. QuickStarts" href="../3_quickstarts/quickstart.html" />
|
||||
<link rel="prev" title="3.2. OrbbecViewer tutorial" href="../3_quickstarts/orbbecviewer.html" />
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||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
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|
||||
</ul>
|
||||
@@ -339,7 +366,7 @@
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||||
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||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<a href="../3_quickstarts/quickstart.html" class="btn btn-neutral float-left" title="3.1. QuickStarts" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="../3_quickstarts/orbbecviewer.html" class="btn btn-neutral float-left" title="3.2. OrbbecViewer tutorial" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="launch_parameters.html" class="btn btn-neutral float-right" title="4.1. Launch parameters" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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@@ -347,7 +374,7 @@
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||||
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||||
<div role="contentinfo">
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||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
</span></p>
|
||||
</div>
|
||||
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||||
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@@ -48,7 +48,8 @@
|
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -311,7 +338,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -315,7 +342,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -324,7 +351,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -893,7 +920,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -360,7 +387,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -576,7 +603,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -317,7 +344,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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||||
</li>
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||||
</ul>
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||||
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||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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||||
</ul>
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||||
</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="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -425,7 +452,7 @@
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
<script src="../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../../genindex.html" />
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<link rel="search" title="Search" href="../../search.html" />
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<link rel="next" title="5.1.1. Ob_benchmark tool" href="performance/benchmark.html" />
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||||
<link rel="next" title="5.1.1. Multi-Camera" href="multi_camera/multi_camera.html" />
|
||||
<link rel="prev" title="4.8. Enabling and Visualizing Point Cloud in ROS 2" href="../4_application_guide/point_cloud.html" />
|
||||
</head>
|
||||
|
||||
@@ -48,7 +48,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -294,101 +321,68 @@
|
||||
|
||||
<section id="advanced-guide">
|
||||
<h1><span class="section-number">5. </span>Advanced Guide<a class="headerlink" href="#advanced-guide" title="Link to this heading"></a></h1>
|
||||
<p>This chapter covers advanced features of the SDK, including multi-camera usage, performance tuning, and special configuration modes.</p>
|
||||
<section id="performance-optimization">
|
||||
<h2><span class="section-number">5.1. </span>Performance & Optimization<a class="headerlink" href="#performance-optimization" title="Link to this heading"></a></h2>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.2. 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">5.1.2.1. 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">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/fastdds_tuning.html">5.1.4. 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">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
<p>This chapter covers advanced features of the SDK, including multi-camera usage, and special configuration modes.</p>
|
||||
<section id="multi-camera">
|
||||
<h2><span class="section-number">5.2. </span>Multi-Camera<a class="headerlink" href="#multi-camera" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1. </span>Multi-Camera<a class="headerlink" href="#multi-camera" title="Link to this heading"></a></h2>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
<section id="configuration-modes">
|
||||
<h2><span class="section-number">5.3. </span>Configuration & Modes<a class="headerlink" href="#configuration-modes" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2. </span>Configuration & Modes<a class="headerlink" href="#configuration-modes" title="Link to this heading"></a></h2>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. 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>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</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>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</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>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</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">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
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</li>
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<title>5.3.1. Aligning Depth to Color in ROS 2 — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../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="../../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="../../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="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><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="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../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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||||
</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.1. </span>Aligning Depth to Color in ROS 2</li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.1. </span>Aligning Depth to Color in ROS 2</li>
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<div itemprop="articleBody">
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<section id="aligning-depth-to-color-in-ros-2">
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<h1><span class="section-number">5.3.1. </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">5.2.1. </span>Aligning Depth to Color in ROS 2<a class="headerlink" href="#aligning-depth-to-color-in-ros-2" title="Link to this heading"></a></h1>
|
||||
<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>
|
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<section id="commands-to-align-and-view-depth-and-color-images">
|
||||
<h2><span class="section-number">5.3.1.1. </span>Commands to Align and View Depth and Color Images<a class="headerlink" href="#commands-to-align-and-view-depth-and-color-images" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.1.1. </span>Commands to Align and View Depth and Color Images<a class="headerlink" href="#commands-to-align-and-view-depth-and-color-images" title="Link to this heading"></a></h2>
|
||||
<ol>
|
||||
<li><p><strong>Basic Depth to Color Alignment:</strong></p>
|
||||
<p>To simply align the depth image to the color image, use the following command:</p>
|
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</ol>
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</section>
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<section id="selecting-topics-in-rviz2">
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<h2><span class="section-number">5.3.1.2. </span>Selecting Topics in RViz2<a class="headerlink" href="#selecting-topics-in-rviz2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.1.2. </span>Selecting Topics in RViz2<a class="headerlink" href="#selecting-topics-in-rviz2" title="Link to this heading"></a></h2>
|
||||
<p>To visualize the aligned images in RViz2:</p>
|
||||
<ol>
|
||||
<li><p>Launch RViz2 after running one of the above commands.</p></li>
|
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</ol>
|
||||
</section>
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||||
<section id="example-of-depth-to-color-overlay">
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<h2><span class="section-number">5.3.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
|
||||
<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>
|
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<p><img alt="Depth to Color Overlay Image" src="../../../_images/image4.jpg" /></p>
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../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="../../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="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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</ul>
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||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
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||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
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||||
</li>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="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="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
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<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#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="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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<section id="configuration-of-depth-nfov-and-wfov-modes">
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<h1><span class="section-number">5.3.2. </span>Configuration of depth NFOV and WFOV modes<a class="headerlink" href="#configuration-of-depth-nfov-and-wfov-modes" title="Link to this heading"></a></h1>
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||||
<h1><span class="section-number">5.2.2. </span>Configuration of depth NFOV and WFOV modes<a class="headerlink" href="#configuration-of-depth-nfov-and-wfov-modes" title="Link to this heading"></a></h1>
|
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<p>For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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|
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
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</ul>
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</li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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</ul>
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</li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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</ul>
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</li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.3. </span>Depth work mode switch</li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.3. </span>Depth work mode switch</li>
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<section id="depth-work-mode-switch">
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<h1><span class="section-number">5.3.3. </span>Depth work mode switch<a class="headerlink" href="#depth-work-mode-switch" title="Link to this heading"></a></h1>
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<h1><span class="section-number">5.2.3. </span>Depth work mode switch<a class="headerlink" href="#depth-work-mode-switch" title="Link to this heading"></a></h1>
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<p>Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L,
|
||||
and Femto and Femto Bolt cameras.</p>
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<ul class="simple">
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@@ -331,15 +358,15 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<title>5.3.4. Disparity_search_offset — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>5.2.4. Disparity_search_offset — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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||||
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|
||||
</li>
|
||||
</ul>
|
||||
</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
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|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
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</li>
|
||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
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||||
</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-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
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</li>
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</ul>
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@@ -283,7 +310,7 @@
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<ul class="wy-breadcrumbs">
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||||
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">5.3.4. </span>Disparity_search_offset</li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">5.2.4. </span>Disparity_search_offset</li>
|
||||
<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/configuration/disparity_search_offset.md.txt" rel="nofollow"> View page source</a>
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</li>
|
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@@ -294,17 +321,17 @@
|
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<div itemprop="articleBody">
|
||||
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||||
<section id="disparity-search-offset">
|
||||
<h1><span class="section-number">5.3.4. </span>Disparity_search_offset<a class="headerlink" href="#disparity-search-offset" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.2.4. </span>Disparity_search_offset<a class="headerlink" href="#disparity-search-offset" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use the disparity_search_offset function in the Gemini330 series cameras (minimum camera firmware version <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>).Disparity_search_offset is effective only for1280×720, 1280×800 and 640×400 resolutions of depth stream.</p>
|
||||
</div></blockquote>
|
||||
<section id="function-introduction">
|
||||
<h2><span class="section-number">5.3.4.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.4.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
|
||||
<p>The definition of disparity search range: For any pixel <em>(u_l, v)</em> in the left image, by default, the corresponding disparity search range in the right image is <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>, where the disparity search length is 256 and the maximum integer disparity is 255. If the starting point of the search is adjusted to <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>, the offset is defined as the disparity shift. Therefore, our disparity search range configuration includes both the disparity search length and the search position offset (which can also be referred to as the disparity shift).</p>
|
||||
<p><img alt="Depth Point Cloud Visualization" src="../../../_images/search_offset0.png" /></p>
|
||||
</section>
|
||||
<section id="parameter-introduction">
|
||||
<h2><span class="section-number">5.3.4.2. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.4.2. </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>
|
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@@ -380,7 +407,7 @@
|
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</tbody>
|
||||
</table></section>
|
||||
<section id="run-the-launch">
|
||||
<h2><span class="section-number">5.3.4.3. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.4.3. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<p>Setting the disparity_search_offset parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
|
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../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="../../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="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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||||
</ul>
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</ul>
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</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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||||
</ul>
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||||
</li>
|
||||
</ul>
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||||
</li>
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
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</li>
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||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
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||||
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||||
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||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
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||||
<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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</ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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</ul>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.5. </span>Using interleave_ae with Gemini330 series cameras</li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.5. </span>Using interleave_ae with Gemini330 series cameras</li>
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<a href="../../../_sources/source/5_advanced_guide/configuration/interleave_ae_mode.md.txt" rel="nofollow"> View page source</a>
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@@ -294,12 +321,12 @@
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<div itemprop="articleBody">
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<section id="using-interleave-ae-with-gemini330-series-cameras">
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||||
<h1><span class="section-number">5.3.5. </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">5.2.5. </span>Using interleave_ae with Gemini330 series cameras<a class="headerlink" href="#using-interleave-ae-with-gemini330-series-cameras" title="Link to this heading"></a></h1>
|
||||
<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">
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||||
<h2><span class="section-number">5.3.5.1. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.5.1. </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">
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||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> : Set laser or hdr interleave.</p></li>
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@@ -337,7 +364,7 @@
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||||
</ul>
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||||
</section>
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||||
<section id="run-the-launch">
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||||
<h2><span class="section-number">5.3.5.2. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
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||||
<h2><span class="section-number">5.2.5.2. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<p>Setting the interleave_ae parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
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</pre></div>
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@@ -347,7 +374,7 @@
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<p><img alt="Depth Point Cloud Visualization" src="../../../_images/interleave_ae1.jpeg" /></p>
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||||
</section>
|
||||
<section id="multi-camera-synced-interleave-ae">
|
||||
<h2><span class="section-number">5.3.5.3. </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">5.2.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
|
||||
<p>Please refer to <a class="reference external" href="./multi_camera_synced">multi_camera_synced</a> and <a class="reference external" href="#parameter-introduction">Parameter Introduction</a></p>
|
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</section>
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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@@ -48,7 +48,8 @@
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../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="../../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="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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</ul>
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</li>
|
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</ul>
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</li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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</li>
|
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<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
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</ul>
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.3.7. </span>Net_camera</li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.7. </span>Net_camera</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/configuration/net_camera.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
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<section id="net-camera">
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<h1><span class="section-number">5.3.7. </span>Net_camera<a class="headerlink" href="#net-camera" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.2.7. </span>Net_camera<a class="headerlink" href="#net-camera" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use Net camera in OrbbecSDK_ROS2.Currently, only Femto_Mega, Gemini 335Le and Gemini 435Le devices are supported, and other Net devices will be supported in the near future.</p>
|
||||
</div></blockquote>
|
||||
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
|
||||
<section id="femto-mega-gemini-435le">
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||||
<h2><span class="section-number">5.3.7.1. </span>Femto Mega & Gemini 435Le<a class="headerlink" href="#femto-mega-gemini-435le" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.7.1. </span>Femto Mega & Gemini 435Le<a class="headerlink" href="#femto-mega-gemini-435le" title="Link to this heading"></a></h2>
|
||||
<p><strong>Parameter Introduction</strong></p>
|
||||
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> is set to true, which will automatically enumerate network devices.</p>
|
||||
<p>If you do not want to automatically enumerate network devices,you can set <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> to false, <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the device’s IP address, and <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
|
||||
@@ -328,7 +356,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="gemini-335le">
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||||
<h2><span class="section-number">5.3.7.2. </span>Gemini 335Le<a class="headerlink" href="#gemini-335le" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.7.2. </span>Gemini 335Le<a class="headerlink" href="#gemini-335le" title="Link to this heading"></a></h2>
|
||||
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> must be set to true, set <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the IP address of the device, and set <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> : Enable automatically enumerate network devices.</p></li>
|
||||
@@ -352,7 +380,7 @@
|
||||
</div>
|
||||
</section>
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||||
<section id="multi-net-camera">
|
||||
<h2><span class="section-number">5.3.7.3. </span>Multi Net camera<a class="headerlink" href="#multi-net-camera" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.2.7.3. </span>Multi Net camera<a class="headerlink" href="#multi-net-camera" title="Link to this heading"></a></h2>
|
||||
<p>For <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py">multi_net_camera.launch.py</a> as an example:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_net_camera.launch.py
|
||||
</pre></div>
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||||
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<title>5.3.6. Predefined presets — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>5.2.6. Predefined presets — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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@@ -48,7 +48,8 @@
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
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||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
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||||
</ul>
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</li>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
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</li>
|
||||
</ul>
|
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</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="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="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
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<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.6. Predefined presets</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.6. Predefined presets</a></li>
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<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.2.7. Net_camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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<h1><span class="section-number">5.2.6. </span>Predefined presets<a class="headerlink" href="#predefined-presets" title="Link to this heading"></a></h1>
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<link rel="next" title="5.2.1. Aligning Depth to Color in ROS 2" href="../configuration/align_depth_color.html" />
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
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</ul>
|
||||
</li>
|
||||
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</li>
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</ul>
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
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</ul>
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</ul>
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</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul class="current">
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||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
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</ul>
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|
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<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
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|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
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|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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</ul>
|
||||
</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.4. </span>GMSL_camera</li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.4. </span>GMSL_camera</li>
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<div itemprop="articleBody">
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<section id="gmsl-camera">
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||||
<h1><span class="section-number">5.2.4. </span>GMSL_camera<a class="headerlink" href="#gmsl-camera" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.1.4. </span>GMSL_camera<a class="headerlink" href="#gmsl-camera" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.</p>
|
||||
</div></blockquote>
|
||||
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
|
||||
<section id="single-gmsl-camera">
|
||||
<h2><span class="section-number">5.2.4.1. </span>Single GMSL camera<a class="headerlink" href="#single-gmsl-camera" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.4.1. </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>
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</div>
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||||
</section>
|
||||
<section id="multi-gmsl-camera">
|
||||
<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>
|
||||
<h2><span class="section-number">5.1.4.2. </span>Multi GMSL camera<a class="headerlink" href="#multi-gmsl-camera" title="Link to this heading"></a></h2>
|
||||
<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
|
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</pre></div>
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</div></blockquote>
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</section>
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<section id="multi-gmsl-camera-synced">
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||||
<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>
|
||||
<h2><span class="section-number">5.1.4.3. </span>Multi GMSL camera synced<a class="headerlink" href="#multi-gmsl-camera-synced" title="Link to this heading"></a></h2>
|
||||
<p>First, please see how to use <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>.</p>
|
||||
<p>In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the <code class="docutils literal notranslate"><span class="pre">primary</span></code> mode. Each GMSL camera is <code class="docutils literal notranslate"><span class="pre">secondary</span></code>.</p>
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<p><strong>Additional Parameter Settings</strong></p>
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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||||
<li class="toctree-l3"><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-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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</li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
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</li>
|
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</ul>
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@@ -294,7 +321,7 @@
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||||
<div itemprop="articleBody">
|
||||
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||||
<section id="multi-camera">
|
||||
<h1><span class="section-number">5.2.1. </span>Multi-Camera<a class="headerlink" href="#multi-camera" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.1.1. </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>
|
||||
@@ -359,7 +386,7 @@ Otherwise, the parameter values of different cameras may become contaminated.</p
|
||||
</pre></div>
|
||||
</div>
|
||||
<section id="no-data-stream-from-multiple-cameras">
|
||||
<h2><span class="section-number">5.2.1.1. </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">5.1.1.1. </span>No Data Stream from Multiple Cameras<a class="headerlink" href="#no-data-stream-from-multiple-cameras" title="Link to this heading"></a></h2>
|
||||
<p><strong>Insufficient Power Supply</strong>:</p>
|
||||
<ul class="simple">
|
||||
<li><p>Ensure that each camera is connected to a separate hub.</p></li>
|
||||
@@ -382,8 +409,8 @@ by running the following command:</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="image-topic-frame-rate-too-low-from-multiple-cameras">
|
||||
<h2><span class="section-number">5.2.1.2. </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>
|
||||
<h2><span class="section-number">5.1.1.2. </span>Image topic frame rate too low from Multiple Cameras<a class="headerlink" href="#image-topic-frame-rate-too-low-from-multiple-cameras" title="Link to this heading"></a></h2>
|
||||
<p>Refer to the <a class="reference external" href="../performance/fastdds_tuning">Fast DDS Configuration</a> file.</p>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
@@ -391,15 +418,15 @@ by running the following command:</p></li>
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<a href="multi_camera_synced.html" class="btn btn-neutral float-right" title="5.1.2. Multi_camera synced Instructions" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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<hr/>
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<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>
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</div>
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||||
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||||
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||||
@@ -6,7 +6,7 @@
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<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>5.2.2. Multi_camera synced Instructions — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>5.1.2. Multi_camera synced Instructions — OrbbecSDK V2 ROS2 Wrapper documentation</title>
|
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@@ -21,8 +21,8 @@
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<script src="../../../_static/js/theme.js"></script>
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<link rel="index" title="Index" href="../../../genindex.html" />
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<link rel="search" title="Search" href="../../../search.html" />
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<link rel="next" title="5.2.3. Multi_camera_synced_verification_tool" href="multi_camera_synced_verification_tool.html" />
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<link rel="prev" title="5.2.1. Multi-Camera" href="multi_camera.html" />
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<link rel="prev" title="5.1.1. Multi-Camera" href="multi_camera.html" />
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</head>
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|
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<body class="wy-body-for-nav">
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||||
@@ -48,7 +48,8 @@
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +88,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
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||||
</li>
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||||
</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
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</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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</ul>
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</li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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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="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
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<li class="breadcrumb-item active"><span class="section-number">5.2.2. </span>Multi_camera synced Instructions</li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.2. </span>Multi_camera synced Instructions</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/multi_camera/multi_camera_synced.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
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<section id="multi-camera-synced-instructions">
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<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>
|
||||
<h1><span class="section-number">5.1.2. </span>Multi_camera synced Instructions<a class="headerlink" href="#multi-camera-synced-instructions" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>The purpose of this document is to explain how to use multi-camera synced with OrbbecSDK_ROS2</p>
|
||||
</div></blockquote>
|
||||
<section id="setup-instructions">
|
||||
<h2><span class="section-number">5.2.2.1. </span>Setup instructions<a class="headerlink" href="#setup-instructions" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.2.1. </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>
|
||||
@@ -307,13 +334,13 @@
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||||
<p><img alt="Depth Point Cloud Visualization" src="../../../_images/multi_camera_synced1.png" /></p>
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||||
</section>
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||||
<section id="checking-camera-port-with-orbbecsdk-ros2">
|
||||
<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>
|
||||
<h2><span class="section-number">5.1.2.2. </span>Checking camera port with OrbbecSDK_ROS2<a class="headerlink" href="#checking-camera-port-with-orbbecsdk-ros2" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="orbbecsdk-ros2-multi-camera-synced-configuration">
|
||||
<h2><span class="section-number">5.2.2.3. </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">5.1.2.3. </span>OrbbecSDK_ROS2 multi-camera synced configuration<a class="headerlink" href="#orbbecsdk-ros2-multi-camera-synced-configuration" title="Link to this heading"></a></h2>
|
||||
<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>
|
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<ol class="simple">
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||||
</ul>
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</section>
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||||
<section id="run-the-following-command-to-start-the-multi-camera-synced">
|
||||
<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>
|
||||
<h2><span class="section-number">5.1.2.4. </span>Run the following command to start the multi-camera synced<a class="headerlink" href="#run-the-following-command-to-start-the-multi-camera-synced" title="Link to this heading"></a></h2>
|
||||
<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
|
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<title>5.2.3. Multi_camera_synced_verification_tool — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>5.1.3. Multi_camera_synced_verification_tool — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../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="../../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="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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||||
</ul>
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||||
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||||
</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
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</li>
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</ul>
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@@ -283,7 +310,7 @@
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.3. </span>Multi_camera_synced_verification_tool</li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.3. </span>Multi_camera_synced_verification_tool</li>
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<a href="../../../_sources/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt" rel="nofollow"> View page source</a>
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</li>
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@@ -294,13 +321,14 @@
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<div itemprop="articleBody">
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<section id="multi-camera-synced-verification-tool">
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<h1><span class="section-number">5.2.3. </span>Multi_camera_synced_verification_tool<a class="headerlink" href="#multi-camera-synced-verification-tool" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">5.1.3. </span>Multi_camera_synced_verification_tool<a class="headerlink" href="#multi-camera-synced-verification-tool" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This article will introduce how to verify the synchronization accuracy of multi-camera synchronization.</p>
|
||||
<p>First, please see how to use <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>.</p>
|
||||
</div></blockquote>
|
||||
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
|
||||
<section id="directory-structure">
|
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<h2><span class="section-number">5.2.3.1. </span>Directory Structure<a class="headerlink" href="#directory-structure" title="Link to this heading"></a></h2>
|
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<h2><span class="section-number">5.1.3.1. </span>Directory Structure<a class="headerlink" href="#directory-structure" title="Link to this heading"></a></h2>
|
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<div class="highlight-plaintext notranslate"><div class="highlight"><pre><span></span>.
|
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├── multicamera_sync/
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│ ├── output/
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@@ -336,7 +364,7 @@
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</ul>
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</section>
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<section id="preparation-for-operation">
|
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<h2><span class="section-number">5.2.3.2. </span>Preparation for operation<a class="headerlink" href="#preparation-for-operation" title="Link to this heading"></a></h2>
|
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<h2><span class="section-number">5.1.3.2. </span>Preparation for operation<a class="headerlink" href="#preparation-for-operation" title="Link to this heading"></a></h2>
|
||||
<p><strong>save_rgbir node</strong></p>
|
||||
<p>Edit multi_camera_synced_verify.launch.py and fill in the activated camera device,we can find that save_rgbir is started at the end.</p>
|
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<blockquote>
|
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@@ -390,7 +418,7 @@
|
||||
<p>Edit Config.ini.Modify <code class="docutils literal notranslate"><span class="pre">frameRate</span></code> and <code class="docutils literal notranslate"><span class="pre">tspRangeThreshold</span></code>.</p>
|
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</section>
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<section id="run-this-example">
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<h2><span class="section-number">5.2.3.3. </span>Run this example<a class="headerlink" href="#run-this-example" title="Link to this heading"></a></h2>
|
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<h2><span class="section-number">5.1.3.3. </span>Run this example<a class="headerlink" href="#run-this-example" title="Link to this heading"></a></h2>
|
||||
<p><strong>Run launch and save camera pictures</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>First terminal</p></li>
|
||||
@@ -429,7 +457,7 @@ python3<span class="w"> </span>SyncFramesMain.py
|
||||
<p>After the operation is successful, you can view the synchronization effect in the <code class="docutils literal notranslate"><span class="pre">results</span> <span class="pre">folder</span></code></p>
|
||||
</section>
|
||||
<section id="files-that-need-to-be-changed">
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<h2><span class="section-number">5.2.3.4. </span>Files that need to be changed<a class="headerlink" href="#files-that-need-to-be-changed" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">5.1.3.4. </span>Files that need to be changed<a class="headerlink" href="#files-that-need-to-be-changed" title="Link to this heading"></a></h2>
|
||||
<p><strong>Analysis tools</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json">multi_save_rgbir_params.json</a></p></li>
|
||||
@@ -446,15 +474,15 @@ python3<span class="w"> </span>SyncFramesMain.py
|
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</div>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
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</ul>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
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|
||||
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|
||||
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||||
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<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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<h1><span class="section-number">6. </span>Benchmark<a class="headerlink" href="#benchmark" title="Link to this heading"></a></h1>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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||||
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||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
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<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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<li class="toctree-l3"><a class="reference internal" href="performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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OrbbecSDK V2 ROS2 Wrapper
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||||
</a>
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<div role="search">
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<form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
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||||
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<a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
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<li class="breadcrumb-item active"><span class="section-number">6.2. </span>Benchmark Usage</li>
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<a href="../../_sources/source/6_benchmark/benchmark_usage.md.txt" rel="nofollow"> View page source</a>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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||||
<div itemprop="articleBody">
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||||
|
||||
<section id="benchmark-usage">
|
||||
<h1><span class="section-number">6.2. </span>Benchmark Usage<a class="headerlink" href="#benchmark-usage" title="Link to this heading"></a></h1>
|
||||
<p>This section introduces how to use the benchmark tool in C++ and Python, and provides an example YAML configuration file.</p>
|
||||
<section id="using-common-benchmark-node">
|
||||
<h2><span class="section-number">6.2.1. </span>Using common benchmark node<a class="headerlink" href="#using-common-benchmark-node" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">common_benchmark_node</span><span class="o">.</span><span class="n">py</span> \
|
||||
<span class="o">--</span><span class="n">run_time</span> <span class="mi">2</span><span class="n">h</span> \
|
||||
<span class="o">--</span><span class="n">csv_file</span> <span class="o">/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">log</span><span class="o">.</span><span class="n">csv</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><strong>Parameters</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>–run_time</strong>: Duration for monitoring, specified as time strings like <code class="docutils literal notranslate"><span class="pre">"10s"</span></code>, <code class="docutils literal notranslate"><span class="pre">"5m"</span></code>, <code class="docutils literal notranslate"><span class="pre">"1h"</span></code>, <code class="docutils literal notranslate"><span class="pre">"2d"</span></code>. Default is 10 seconds.</p></li>
|
||||
<li><p><strong>–csv_file</strong>: Path to the output CSV file. By default, it is saved in the workspace directory with the name “camera_monitor_log.csv”.</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="using-service-benchmark-node">
|
||||
<h2><span class="section-number">6.2.2. </span>Using service benchmark node<a class="headerlink" href="#using-service-benchmark-node" title="Link to this heading"></a></h2>
|
||||
<section id="ros2-c">
|
||||
<h3><span class="section-number">6.2.2.1. </span>ROS2 C++<a class="headerlink" href="#ros2-c" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p><strong>Single service benchmark</strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span> \
|
||||
<span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
|
||||
<span class="o">-</span><span class="n">p</span> <span class="n">service_name</span><span class="o">:=/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> \
|
||||
<span class="o">-</span><span class="n">p</span> <span class="n">service_type</span><span class="o">:=</span><span class="n">orbbec_camera_msgs</span><span class="o">/</span><span class="n">srv</span><span class="o">/</span><span class="n">GetInt32</span> \
|
||||
<span class="o">-</span><span class="n">p</span> <span class="n">count</span><span class="o">:=</span><span class="mi">10</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><strong><strong>Multiple services benchmark (YAML config)</strong></strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span> \
|
||||
<span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
|
||||
<span class="o">-</span><span class="n">p</span> <span class="n">yaml_file</span><span class="o">:=/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">default_service_cpp</span><span class="o">.</span><span class="n">yaml</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="ros2-python">
|
||||
<h3><span class="section-number">6.2.2.2. </span>ROS2 Python<a class="headerlink" href="#ros2-python" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p><strong>Single service benchmark</strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">service</span> <span class="o">/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> <span class="o">--</span><span class="n">count</span> <span class="mi">10</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><strong><strong>Multiple services benchmark (YAML config)</strong></strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">yaml_file</span> <span class="o">/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">default_service</span><span class="o">.</span><span class="n">yaml</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="example-yaml-configuration">
|
||||
<h3><span class="section-number">6.2.2.3. </span><strong>Example YAML configuration</strong><a class="headerlink" href="#example-yaml-configuration" title="Link to this heading"></a></h3>
|
||||
<p>We provide an example YAML configuration, located in the <code class="docutils literal notranslate"><span class="pre">scripts</span></code> directory as <code class="docutils literal notranslate"><span class="pre">service_default.yaml</span></code>.</p>
|
||||
<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">default_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">50</span>
|
||||
|
||||
<span class="nt">services</span><span class="p">:</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_auto_white_balance</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_gain</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_gain</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_device_info</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetDeviceInfo</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/send_software_trigger</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_auto_white_balance</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_ae_roi</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetArrays</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data_param</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">1279</span><span class="p p-Indicator">,</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">719</span><span class="p p-Indicator">]}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_auto_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">30</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_flip</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_gain</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">20</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_mirror</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_rotation</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">90</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_ae_roi</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetArrays</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data_param</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">1279</span><span class="p p-Indicator">,</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">719</span><span class="p p-Indicator">]}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_auto_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">3000</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_flip</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_gain</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">200</span><span class="p p-Indicator">}</span>
|
||||
</pre></div>
|
||||
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|
||||
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|
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
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||||
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||||
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|
||||
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||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
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|
||||
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|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
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<li class="breadcrumb-item active"><span class="section-number">6.1. </span>Introduction</li>
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<a href="../../_sources/source/6_benchmark/introduction.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
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||||
<section id="introduction">
|
||||
<h1><span class="section-number">6.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h1>
|
||||
<p>This section introduces the benchmark tool, explaining its purpose, features, and what it can help you measure.</p>
|
||||
<section id="common-benchmark-node">
|
||||
<h2><span class="section-number">6.1.1. </span>common benchmark node<a class="headerlink" href="#common-benchmark-node" title="Link to this heading"></a></h2>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">common_benchmark_node.py</span></code> is a tool for monitoring the performance of Orbbec cameras running in a ROS environment. It collects and records key camera metrics such as frame rate, latency, system resource usage, and packet loss rate in real time, helping users evaluate the stability and performance of camera nodes (updated once per second).</p>
|
||||
<p><strong>Features</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Measure published image frame rate and latency (current, min, max, average)</p></li>
|
||||
<li><p>Monitor the camera node’s CPU/ARM usage (current, min, max, average)</p></li>
|
||||
<li><p>Track frame drop rate (publisher) and packet loss rate (subscriber)</p></li>
|
||||
<li><p>Print real-time statistics (1 Hz) to the terminal and save results to a CSV file</p></li>
|
||||
<li><p>Support configurable runtime duration and CSV output path</p></li>
|
||||
</ul>
|
||||
<p><strong>Example</strong></p>
|
||||
<p>In ROS1, both frame drop rate and packet loss rate can be measured, while in ROS2, the header lacks the <code class="docutils literal notranslate"><span class="pre">seq</span></code> field, so only the publisher-side frame drop rate is calculated.</p>
|
||||
<p><img alt="common_benchmark_ros1" src="../../_images/common_benchmark_ros1.png" /></p>
|
||||
<p><img alt="common_benchmark_ros2" src="../../_images/common_benchmark_ros2.png" /></p>
|
||||
</section>
|
||||
<section id="service-benchmark-node">
|
||||
<h2><span class="section-number">6.1.2. </span>service benchmark node<a class="headerlink" href="#service-benchmark-node" title="Link to this heading"></a></h2>
|
||||
<p>The <code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> tool is used to monitor the performance of service calls. It can measure the success rate of service calls and the time required to execute service.</p>
|
||||
<p><strong>Features</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Benchmark a single service call, measuring latency and success rate</p></li>
|
||||
<li><p>Benchmark multiple services as defined in a YAML configuration file</p></li>
|
||||
<li><p>Optionally save benchmark results to a CSV file</p></li>
|
||||
</ul>
|
||||
<p><strong>Example</strong></p>
|
||||
<p><img alt="service benchmark" src="../../_images/service_benchmark.png" /></p>
|
||||
<p>When you need to collect data for multiple services, it is recommended to use a CSV file for analysis.</p>
|
||||
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|
||||
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|
||||
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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|
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
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|
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|
||||
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|
||||
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|
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#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="#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
|
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</nav>
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|
||||
<div class="wy-nav-content">
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||||
<div class="rst-content">
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<div role="navigation" aria-label="Page navigation">
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<ul class="wy-breadcrumbs">
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">6.4. </span>Performance & Optimization</li>
|
||||
<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/source/6_benchmark/performance.md.txt" rel="nofollow"> View page source</a>
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</li>
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<hr/>
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</div>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="performance-optimization">
|
||||
<h1><span class="section-number">6.4. </span>Performance & Optimization<a class="headerlink" href="#performance-optimization" title="Link to this heading"></a></h1>
|
||||
<section id="ob-benchmark-tool">
|
||||
<h2><span class="section-number">6.4.1. </span>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h2>
|
||||
<blockquote>
|
||||
<div><p>The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble)</p>
|
||||
</div></blockquote>
|
||||
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
|
||||
<section id="tool-configuration-start-benchmark-params-json">
|
||||
<h3><span class="section-number">6.4.1.1. </span>Tool Configuration (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#tool-configuration-start-benchmark-params-json" title="Link to this heading"></a></h3>
|
||||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"start_benchmark_params"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"camera_name"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||||
<span class="w"> </span><span class="s2">"camera_01"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_02"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_03"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_04"</span>
|
||||
<span class="w"> </span><span class="p">],</span>
|
||||
<span class="w"> </span><span class="nt">"process_name"</span><span class="p">:</span><span class="w"> </span><span class="s2">"component_conta"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"switch_cycle"</span><span class="p">:</span><span class="w"> </span><span class="mi">300</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"test_cycle"</span><span class="p">:</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"skip_number"</span><span class="p">:</span><span class="w"> </span><span class="mi">30</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">camera_name</span></code>: Names of the cameras to be configured. Example: <code class="docutils literal notranslate"><span class="pre">"camera_01"</span></code>, <code class="docutils literal notranslate"><span class="pre">"camera_02"</span></code>, etc.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">process_name</span></code>: The name of the process to be monitored. For example, <code class="docutils literal notranslate"><span class="pre">"component_conta"</span></code> will monitor the data of the container process.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">switch_cycle</span></code>: The cycle time for switching configurations, in seconds. For example, setting it to <code class="docutils literal notranslate"><span class="pre">300</span></code> means the configuration will switch every 300 seconds.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">test_cycle</span></code>: The testing cycle, in seconds. For example, setting it to <code class="docutils literal notranslate"><span class="pre">1</span></code> means the tool will collect data for the monitored process every 1 second.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">skip_number</span></code>: The number of data points to skip. For example, setting it to <code class="docutils literal notranslate"><span class="pre">30</span></code> means that the first 30 data points will be ignored.</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="camera-configuration-launch-files">
|
||||
<h3><span class="section-number">6.4.1.2. </span>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h3>
|
||||
<p>In the launch folder, there are multiple.launch.py files (<code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code>, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code>, …, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_19.launch.py</span></code>). Each file corresponds to a different camera configuration.</p>
|
||||
</section>
|
||||
<section id="running-the-ob-benchmark-tool">
|
||||
<h3><span class="section-number">6.4.1.3. </span>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h3>
|
||||
<p>To run the tool, use the following commands:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
|
||||
ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>ob_benchmark_node
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="output-data-files">
|
||||
<h3><span class="section-number">6.4.1.4. </span>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h3>
|
||||
<p>The output data files will be stored in the ob_benchmark folder with filenames like <code class="docutils literal notranslate"><span class="pre">0.csv</span></code>, <code class="docutils literal notranslate"><span class="pre">1.csv</span></code>, …, 19.csv. For example:</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">0.csv</span></code> contains data from the <code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code> configuration.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">1.csv</span></code> contains data from the <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code> configuration.</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
<section id="reducing-cpu-usage-with-orbbec-ros-package">
|
||||
<h2><span class="section-number">6.4.2. </span>Reducing CPU Usage with Orbbec ROS Package<a class="headerlink" href="#reducing-cpu-usage-with-orbbec-ros-package" title="Link to this heading"></a></h2>
|
||||
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
|
||||
<p>This document outlines strategies for minimizing CPU usage in the <strong>OrbbecSDK_ROS2 v2</strong> environment when using <strong>Gemini 330 series cameras</strong>. The firmware version must be <strong>no lower than 1.4.10</strong>, and <code class="docutils literal notranslate"><span class="pre">device</span></code> should be set to <strong>Default</strong>.</p>
|
||||
<section id="recommended-settings-for-lower-cpu-usage">
|
||||
<h3><span class="section-number">6.4.2.1. </span>Recommended Settings for Lower CPU Usage<a class="headerlink" href="#recommended-settings-for-lower-cpu-usage" title="Link to this heading"></a></h3>
|
||||
<p>To achieve the lowest possible CPU usage in OrbbecSDK_ROS2, it is recommended to configure the following parameters.</p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Parameter</th>
|
||||
<th>Recommendation</th>
|
||||
<th>Note</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td><code>uvc_backend</code></td>
|
||||
<td><code>v4l2</code></td>
|
||||
<td>Lower CPU usage compared to <code>libuvc</code></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>color_format</code></td>
|
||||
<td><code>RGB</code></td>
|
||||
<td>Lower CPU usage than <code>MJPG</code></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>filter</code></td>
|
||||
<td>Only <code>hardware_noise_removal_filter</code></td>
|
||||
<td>Other filters significantly increase CPU usage</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></section>
|
||||
<section id="launch-files-used-for-testing">
|
||||
<h3><span class="section-number">6.4.2.2. </span>Launch Files Used for Testing<a class="headerlink" href="#launch-files-used-for-testing" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="test-environment">
|
||||
<h3><span class="section-number">6.4.2.3. </span>Test environment<a class="headerlink" href="#test-environment" title="Link to this heading"></a></h3>
|
||||
<p><strong>Hardware Configuration</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>CPU</strong>: Intel i7-8700 @ 3.20GHz</p></li>
|
||||
<li><p><strong>Memory</strong>: 24 GB</p></li>
|
||||
<li><p><strong>Storage</strong>: Micron 2200S NVMe 256GB</p></li>
|
||||
<li><p><strong>GPU</strong>: NVIDIA GeForce GTX 1660Ti</p></li>
|
||||
<li><p><strong>OS</strong>: Ubuntu22.04</p></li>
|
||||
</ul>
|
||||
<p><strong>ROS Configuration</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>ROS Version</strong>: ROS2 Humble</p></li>
|
||||
<li><p><strong>SDK Version</strong>: OrbbecSDK_ROS2 v2.2.1</p></li>
|
||||
</ul>
|
||||
<p><strong>Camera Setup</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Devices: 2x Gemini 335, 1x Gemini 336, 1x Gemini 336L</p></li>
|
||||
<li><p>Firmware Version: 1.4.10</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="test-setup">
|
||||
<h3><span class="section-number">6.4.2.4. </span>Test Setup<a class="headerlink" href="#test-setup" title="Link to this heading"></a></h3>
|
||||
<p><strong>Stream Settings:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Depth / IR Left / IR Right: 848×480 @ 30fps</p></li>
|
||||
<li><p>Color: 848×480 @ 30fps</p></li>
|
||||
</ul>
|
||||
<p>Note: The following CPU usage data focuses on <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code>, <code class="docutils literal notranslate"><span class="pre">color_format</span></code> and various filter combinations.</p>
|
||||
</section>
|
||||
<section id="test-results">
|
||||
<h3><span class="section-number">6.4.2.5. </span>Test Results<a class="headerlink" href="#test-results" title="Link to this heading"></a></h3>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>libuvc CPU Usage</th>
|
||||
<th>v4l2 CPU Usage</th>
|
||||
<th>Absolute Change</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>182.8%</td>
|
||||
<td>118.8%</td>
|
||||
<td>-64.0%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>The CPU usage can be significantly reduced with v4l2 backend. In our implementation, v4l2 works without requiring any patches to the Linux kernel, allowing users to easily switch between v4l2 and libuvc and maintaining full compatibility with standard Linux distributions.</p>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Backend</th>
|
||||
<th>MJPG CPU Usage</th>
|
||||
<th>RGB CPU Usage</th>
|
||||
<th>Absolute Change</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>libuvc</td>
|
||||
<td>347.7%</td>
|
||||
<td>182.8%</td>
|
||||
<td>-164.9%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>v4l2</td>
|
||||
<td>170.0%</td>
|
||||
<td>118.8%</td>
|
||||
<td>-51.2%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>The CPU usage can be reduced if the RGB format is selected instead of MJPG, since the decoding of MJPG image will consume the host CPU resource.</p>
|
||||
<p><strong>Filter Configuration Impact</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Filters Applied</th>
|
||||
<th>libuvc CPU Usage</th>
|
||||
<th>CPU Usage Increase</th>
|
||||
<th>v4l2 CPU Usage</th>
|
||||
<th>CPU Usage Increase</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>No Filter (benchmark)</td>
|
||||
<td>182.8%</td>
|
||||
<td>0.0%(benchmark)</td>
|
||||
<td>118.8%</td>
|
||||
<td>0.0%(benchmark)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>(software)noise_removal_filter</code></td>
|
||||
<td>218.0%</td>
|
||||
<td>+35.2%</td>
|
||||
<td>128.5%</td>
|
||||
<td>+9.7%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>(software)noise_removal_filter + spatial_filter</code></td>
|
||||
<td>469.6%</td>
|
||||
<td>+286.8%</td>
|
||||
<td>336.7%</td>
|
||||
<td>+217.9%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>hardware_noise_removal_filter</code></td>
|
||||
<td>186.3%</td>
|
||||
<td>+3.5%</td>
|
||||
<td>115.4%</td>
|
||||
<td>-3.4%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>hardware_noise_removal_filter + spatial_filter</code></td>
|
||||
<td>251.3%</td>
|
||||
<td>+68.5%</td>
|
||||
<td>152.5%</td>
|
||||
<td>+33.7%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>Based on the test results, using only the <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code> results in a negligible change in CPU usage for both <code class="docutils literal notranslate"><span class="pre">libuvc</span></code> (+3.5%) and <code class="docutils literal notranslate"><span class="pre">v4l2</span></code> (-3.4%) compared to the no-filter benchmark, as this filter runs internally on the camera hardware. In contrast, other filters execute on the host system. Adding the <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> to the hardware filter leads to a moderate increase in CPU usage, while applying the software-based <code class="docutils literal notranslate"><span class="pre">noise_removal_filter</span></code> —either alone or combined with <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> —significantly increases CPU load. To maintain low CPU usage, it is recommended to avoid software-based filters and rely solely on the <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code>.</p>
|
||||
</section>
|
||||
<section id="further-optimizationa">
|
||||
<h3><span class="section-number">6.4.2.6. </span>Further Optimizationa<a class="headerlink" href="#further-optimizationa" title="Link to this heading"></a></h3>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Parameter</th>
|
||||
<th>Recommendation</th>
|
||||
<th>Note</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td><code>depth_registration</code></td>
|
||||
<td><code>false</code> or <code>true</code> with <code>align_mode=HW</code></td>
|
||||
<td>Software alignment consumes more CPU</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>enable_point_cloud</code></td>
|
||||
<td><code>false</code></td>
|
||||
<td>Disabling point cloud reduces CPU usage</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>enable_colored_point_cloud</code></td>
|
||||
<td><code>false</code></td>
|
||||
<td>Disabling colored point cloud reduces CPU usage</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></section>
|
||||
</section>
|
||||
<section id="efficient-intra-process-communication">
|
||||
<h2><span class="section-number">6.4.3. </span>Efficient intra-process communication<a class="headerlink" href="#efficient-intra-process-communication" title="Link to this heading"></a></h2>
|
||||
<section id="introduction">
|
||||
<h3><span class="section-number">6.4.3.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h3>
|
||||
<p>Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on image/pointcloud topics, especially with big frame resolutions and high FPS.</p>
|
||||
<p>You will need to launch a component container and launch our node as a component together with other component nodes. Further details on “Composing multiple nodes in a single process” can be found <a class="reference external" href="https://docs.ros.org/en/rolling/Tutorials/Composition.html">here</a>.</p>
|
||||
<p>Further details on efficient intra-process communication can be found <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication">here</a>.</p>
|
||||
</section>
|
||||
<section id="example">
|
||||
<h3><span class="section-number">6.4.3.2. </span>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h3>
|
||||
<p><strong>Manually loading multiple components into the same process</strong></p>
|
||||
<ul>
|
||||
<li><p>Start the component:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>rclcpp_components<span class="w"> </span>component_container
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p>Add the wrapper:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>component<span class="w"> </span>load<span class="w"> </span>/ComponentManager<span class="w"> </span>orbbec_camera<span class="w"> </span>orbbec_camera::OBCameraNodeDriver<span class="w"> </span>-e<span class="w"> </span>use_intra_process_comms:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>Load other component nodes (consumers of the wrapper topics) in the same way.</p>
|
||||
</li>
|
||||
</ul>
|
||||
<p><strong>Using a launch file</strong></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_intra_process_demo_launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Limitations</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Node components are currently not supported on RCLPY</p></li>
|
||||
<li><p>Compressed images using <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> will be disabled as this isn’t supported with intra-process communication</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
<section id="fast-dds-optimization-for-orbbec-camera-with-ros2">
|
||||
<h2><span class="section-number">6.4.4. </span>Fast DDS Optimization for Orbbec Camera with ROS2<a class="headerlink" href="#fast-dds-optimization-for-orbbec-camera-with-ros2" title="Link to this heading"></a></h2>
|
||||
<p>When operating with the default configuration, Fast DDS exhibits suboptimal transmission efficiency, resulting in
|
||||
significant image transmission delays when used with the Orbbec camera in ROS2. This document provides guidance on
|
||||
optimizing Fast DDS to enhance image transfer efficiency.</p>
|
||||
<section id="adjusting-system-parameters">
|
||||
<h3><span class="section-number">6.4.4.1. </span>Adjusting System Parameters<a class="headerlink" href="#adjusting-system-parameters" title="Link to this heading"></a></h3>
|
||||
<p><strong>IP Fragmentation Time</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>Path</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_time</span></code> (default: 30 seconds)</p></li>
|
||||
<li><p><strong>Purpose</strong>: Defines the duration that IP fragments are kept in memory.</p></li>
|
||||
<li><p><strong>Adjustment</strong>: Decrease this value to reduce the time window where no fragments are received, which can help reduce
|
||||
delays. Consider the specific needs of your environment as this setting affects all incoming fragments.</p>
|
||||
<p><strong>Example</strong>: Set to 3 seconds.</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_time<span class="o">=</span><span class="m">3</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<p><strong>IP Fragmentation Memory Threshold</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>Path</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_high_thresh</span></code> (default: 262144 bytes)</p></li>
|
||||
<li><p><strong>Purpose</strong>: Sets the maximum memory used to reassemble IP fragments.</p></li>
|
||||
<li><p><strong>Adjustment</strong>: Increase this value to allow more memory for fragment reassembly, which can improve handling of larger
|
||||
data packets.</p>
|
||||
<p><strong>Example</strong>: Increase to 128 MB.</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_high_thresh<span class="o">=</span><span class="m">134217728</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<p><strong>Maximum Buffer Sizes</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>Purpose</strong>: Configures the maximum buffer sizes for receiving and sending data, which is critical for high-throughput
|
||||
data transmission.</p></li>
|
||||
<li><p><strong>Adjustment</strong>: Set the maximum buffer sizes for both receiving and sending operations.</p>
|
||||
<p><strong>Commands</strong>:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<p>Alternatively, make these settings permanent by adding them to the <code class="docutils literal notranslate"><span class="pre">/etc/sysctl.d/10-fastrtps-max.conf</span></code> file.</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>gedit<span class="w"> </span>/etc/sysctl.d/10-fastrtps-max.conf
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>add blow lines to the file:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>then save and exit the file. run <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">sysctl</span> <span class="pre">-p</span></code> to apply the changes.</p>
|
||||
<p>For detailed guidance, refer
|
||||
to <a class="reference external" href="https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html">ROS 2 DDS Tuning Documentation</a>.</p>
|
||||
</section>
|
||||
<section id="fast-dds-configuration">
|
||||
<h3><span class="section-number">6.4.4.2. </span>Fast DDS Configuration<a class="headerlink" href="#fast-dds-configuration" title="Link to this heading"></a></h3>
|
||||
<p>Below is an example of a Fast DDS configuration file optimized for ROS2 usage with the Orbbec camera. This configuration
|
||||
enhances the overall data transmission by adjusting buffer sizes and transport settings.</p>
|
||||
<p><strong>Configuration File:</strong> <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></p>
|
||||
<p>Place this file in the <code class="docutils literal notranslate"><span class="pre">$HOME</span></code> directory.</p>
|
||||
<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="cp"><?xml version="1.0" encoding="UTF-8"?></span>
|
||||
<span class="nt"><profiles</span><span class="w"> </span><span class="na">xmlns=</span><span class="s">"http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><transport_descriptors></span>
|
||||
<span class="w"> </span><span class="nt"><transport_descriptor></span>
|
||||
<span class="w"> </span><span class="nt"><transport_id></span>UDP_transport<span class="nt"></transport_id></span>
|
||||
<span class="w"> </span><span class="nt"><type></span>UDPv4<span class="nt"></type></span>
|
||||
<span class="w"> </span><span class="nt"><maxInitialPeersRange></span>10<span class="nt"></maxInitialPeersRange></span>
|
||||
<span class="w"> </span><span class="nt"><maxMessageSize></span>65000<span class="nt"></maxMessageSize></span>
|
||||
<span class="w"> </span><span class="nt"><sendBufferSize></span>1048576<span class="nt"></sendBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"><receiveBufferSize></span>1048576<span class="nt"></receiveBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"></transport_descriptor></span>
|
||||
<span class="w"> </span><span class="nt"></transport_descriptors></span>
|
||||
<span class="w"> </span><span class="nt"><participant</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">"participant_profile_ros2"</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">"true"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><rtps></span>
|
||||
<span class="w"> </span><span class="nt"><name></span>profile_for_ros2_context<span class="nt"></name></span>
|
||||
<span class="w"> </span><span class="nt"><userTransports></span>
|
||||
<span class="w"> </span><span class="nt"><transport_id></span>UDP_transport<span class="nt"></transport_id></span>
|
||||
<span class="w"> </span><span class="nt"></userTransports></span>
|
||||
<span class="w"> </span><span class="nt"><useBuiltinTransports></span>false<span class="nt"></useBuiltinTransports></span>
|
||||
<span class="w"> </span><span class="nt"><sendSocketBufferSize></span>1048576<span class="nt"></sendSocketBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"><listenSocketBufferSize></span>1048576<span class="nt"></listenSocketBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"><builtin></span>
|
||||
<span class="w"> </span><span class="nt"><initialPeersList></span>
|
||||
<span class="w"> </span><span class="nt"><locator></span>
|
||||
<span class="w"> </span><span class="nt"><udpv4></span>
|
||||
<span class="w"> </span><span class="nt"><address></span>127.0.0.1<span class="nt"></address></span>
|
||||
<span class="w"> </span><span class="nt"></udpv4></span>
|
||||
<span class="w"> </span><span class="nt"></locator></span>
|
||||
<span class="w"> </span><span class="nt"></initialPeersList></span>
|
||||
<span class="w"> </span><span class="nt"></builtin></span>
|
||||
<span class="w"> </span><span class="nt"></rtps></span>
|
||||
<span class="w"> </span><span class="nt"></participant></span>
|
||||
<span class="w"> </span><span class="nt"><data_writer</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">"default publisher profile"</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">"true"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><qos></span>
|
||||
<span class="w"> </span><span class="nt"><publishMode></span>
|
||||
<span class="w"> </span><span class="nt"><kind></span>ASYNCHRONOUS<span class="nt"></kind></span>
|
||||
<span class="w"> </span><span class="nt"></publishMode></span>
|
||||
<span class="w"> </span><span class="nt"><latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"><duration></span>
|
||||
<span class="w"> </span><span class="nt"><sec></span>0<span class="nt"></sec></span>
|
||||
<span class="w"> </span><span class="nt"><nanosec></span>1000000<span class="nt"></nanosec></span>
|
||||
<span class="w"> </span><span class="nt"></duration></span>
|
||||
<span class="w"> </span><span class="nt"></latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"></qos></span>
|
||||
<span class="w"> </span><span class="nt"><historyMemoryPolicy></span>PREALLOCATED_WITH_REALLOC<span class="nt"></historyMemoryPolicy></span>
|
||||
<span class="w"> </span><span class="nt"></data_writer></span>
|
||||
<span class="w"> </span><span class="nt"><data_reader</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">"default subscription profile"</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">"true"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><qos></span>
|
||||
<span class="w"> </span><span class="nt"><data_sharing></span>
|
||||
<span class="w"> </span><span class="nt"><kind></span>AUTOMATIC<span class="nt"></kind></span>
|
||||
<span class="w"> </span><span class="nt"></data_sharing></span>
|
||||
<span class="w"> </span><span class="nt"><latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"><duration></span>
|
||||
<span class="w"> </span><span class="nt"><sec></span>0<span class="nt"></sec></span>
|
||||
<span class="w"> </span><span class="nt"><nanosec></span>1000000<span class="nt"></nanosec></span>
|
||||
<span class="w"> </span><span class="nt"></duration></span>
|
||||
<span class="w"> </span><span class="nt"></latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"></qos></span>
|
||||
<span class="w"> </span><span class="nt"><historyMemoryPolicy></span>PREALLOCATED_WITH_REALLOC<span class="nt"></historyMemoryPolicy></span>
|
||||
<span class="w"> </span><span class="nt"></data_reader></span>
|
||||
<span class="nt"></profiles></span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Environment Variables</strong></p>
|
||||
<p>Set the following environment variables to use the custom Fast DDS profile:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">export</span><span class="w"> </span><span class="nv">RMW_IMPLEMENTATION</span><span class="o">=</span>rmw_fastrtps_cpp
|
||||
<span class="nb">export</span><span class="w"> </span><span class="nv">FASTRTPS_DEFAULT_PROFILES_FILE</span><span class="o">=</span><span class="nv">$HOME</span>/shm_fastdds.xml
|
||||
<span class="nb">export</span><span class="w"> </span><span class="nv">RMW_FASTRTPS_USE_QOS_FROM_XML</span><span class="o">=</span><span class="m">1</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>This configuration aims to optimize the data flow and reduce transmission delays, improving the responsiveness and
|
||||
reliability of the Orbbec camera system in a ROS2 environment.</p>
|
||||
</section>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="benchmark_data.html" class="btn btn-neutral float-left" title="6.3. Benchmark Data" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="../7_developer_guide/developer_guide.html" class="btn btn-neutral float-right" title="7. Developer Guide" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
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});
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||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
+119
-97
@@ -6,7 +6,7 @@
|
||||
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>5.1.1. Ob_benchmark tool — OrbbecSDK V2 ROS2 Wrapper documentation</title>
|
||||
<title>Ob_benchmark tool — OrbbecSDK V2 ROS2 Wrapper documentation</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=a2eacb60" />
|
||||
@@ -20,9 +20,7 @@
|
||||
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
|
||||
<script src="../../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="Index" href="../../../genindex.html" />
|
||||
<link rel="search" title="Search" href="../../../search.html" />
|
||||
<link rel="next" title="5.1.2. Reducing CPU Usage with Orbbec ROS Package" href="lower_cpu_usage.html" />
|
||||
<link rel="prev" title="5. Advanced Guide" href="../advanced_guide.html" />
|
||||
<link rel="search" title="Search" href="../../../search.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
@@ -44,11 +42,12 @@
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<ul class="current">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -87,6 +86,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -160,110 +166,129 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
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||||
</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="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -282,10 +307,9 @@
|
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<div role="navigation" aria-label="Page navigation">
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<ul class="wy-breadcrumbs">
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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||||
<li class="breadcrumb-item active"><span class="section-number">5.1.1. </span>Ob_benchmark tool</li>
|
||||
<li class="breadcrumb-item active">Ob_benchmark tool</li>
|
||||
<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/performance/benchmark.md.txt" rel="nofollow"> View page source</a>
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<a href="../../../_sources/source/6_benchmark/performance/benchmark.md.txt" rel="nofollow"> View page source</a>
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</li>
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</ul>
|
||||
<hr/>
|
||||
@@ -294,12 +318,13 @@
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="ob-benchmark-tool">
|
||||
<h1><span class="section-number">5.1.1. </span>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h1>
|
||||
<h1>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble)</p>
|
||||
</div></blockquote>
|
||||
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
|
||||
<section id="tool-configuration-start-benchmark-params-json">
|
||||
<h2><span class="section-number">5.1.1.1. </span>Tool Configuration (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#tool-configuration-start-benchmark-params-json" title="Link to this heading"></a></h2>
|
||||
<h2>Tool Configuration (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#tool-configuration-start-benchmark-params-json" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"start_benchmark_params"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"camera_name"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||||
@@ -325,11 +350,11 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="camera-configuration-launch-files">
|
||||
<h2><span class="section-number">5.1.1.2. </span>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h2>
|
||||
<h2>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h2>
|
||||
<p>In the launch folder, there are multiple.launch.py files (<code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code>, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code>, …, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_19.launch.py</span></code>). Each file corresponds to a different camera configuration.</p>
|
||||
</section>
|
||||
<section id="running-the-ob-benchmark-tool">
|
||||
<h2><span class="section-number">5.1.1.3. </span>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h2>
|
||||
<h2>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h2>
|
||||
<p>To run the tool, use the following commands:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
|
||||
ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>ob_benchmark_node
|
||||
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<section id="output-data-files">
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<h2><span class="section-number">5.1.1.4. </span>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h2>
|
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<h2>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h2>
|
||||
<p>The output data files will be stored in the ob_benchmark folder with filenames like <code class="docutils literal notranslate"><span class="pre">0.csv</span></code>, <code class="docutils literal notranslate"><span class="pre">1.csv</span></code>, …, 19.csv. For example:</p>
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<ul class="simple">
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<li><p><code class="docutils literal notranslate"><span class="pre">0.csv</span></code> contains data from the <code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code> configuration.</p></li>
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<title>5.1.3. Efficient intra-process communication: — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>Efficient intra-process communication: — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l3"><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-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../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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||||
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul class="current">
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||||
<li class="toctree-l3"><a class="reference internal" href="benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
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||||
<li class="toctree-l1"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="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="lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
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|
||||
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||||
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|
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|
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<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
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||||
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|
||||
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<section id="efficient-intra-process-communication">
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<h1><span class="section-number">5.1.3. </span>Efficient intra-process communication:<a class="headerlink" href="#efficient-intra-process-communication" title="Link to this heading"></a></h1>
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<h1>Efficient intra-process communication:<a class="headerlink" href="#efficient-intra-process-communication" title="Link to this heading"></a></h1>
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<section id="introduction">
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<h2><span class="section-number">5.1.3.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h2>
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<h2>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h2>
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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>
|
||||
<p>You will need to launch a component container and launch our node as a component together with other component nodes. Further details on “Composing multiple nodes in a single process” can be found <a class="reference external" href="https://docs.ros.org/en/rolling/Tutorials/Composition.html">here</a>.</p>
|
||||
<p>Further details on efficient intra-process communication can be found <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication">here</a>.</p>
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<h2><span class="section-number">5.1.3.2. </span>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h2>
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<h2>Example<a class="headerlink" href="#example" title="Link to this heading"></a></h2>
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<p><strong>Manually loading multiple components into the same process</strong></p>
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|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
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||||
</ul>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.1.4. </span>Fast DDS Optimization for Orbbec Camera with ROS2</li>
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<li class="breadcrumb-item active">Fast DDS Optimization for Orbbec Camera with ROS2</li>
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<a href="../../../_sources/source/5_advanced_guide/performance/fastdds_tuning.md.txt" rel="nofollow"> View page source</a>
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<hr/>
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@@ -294,12 +318,12 @@
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<div itemprop="articleBody">
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||||
<section id="fast-dds-optimization-for-orbbec-camera-with-ros2">
|
||||
<h1><span class="section-number">5.1.4. </span>Fast DDS Optimization for Orbbec Camera with ROS2<a class="headerlink" href="#fast-dds-optimization-for-orbbec-camera-with-ros2" title="Link to this heading"></a></h1>
|
||||
<h1>Fast DDS Optimization for Orbbec Camera with ROS2<a class="headerlink" href="#fast-dds-optimization-for-orbbec-camera-with-ros2" title="Link to this heading"></a></h1>
|
||||
<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">5.1.4.1. </span>Adjusting System Parameters<a class="headerlink" href="#adjusting-system-parameters" title="Link to this heading"></a></h2>
|
||||
<h2>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>
|
||||
@@ -354,7 +378,7 @@ 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">5.1.4.2. </span>Fast DDS Configuration<a class="headerlink" href="#fast-dds-configuration" title="Link to this heading"></a></h2>
|
||||
<h2>Fast DDS Configuration<a class="headerlink" href="#fast-dds-configuration" title="Link to this heading"></a></h2>
|
||||
<p>Below is an example of a Fast DDS configuration file optimized for ROS2 usage with the Orbbec camera. This configuration
|
||||
enhances the overall data transmission by adjusting buffer sizes and transport settings.</p>
|
||||
<p><strong>Configuration File:</strong> <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></p>
|
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@@ -437,16 +461,13 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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<title>5.1.2. Reducing CPU Usage with Orbbec ROS Package — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>Reducing CPU Usage with Orbbec ROS Package — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../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="../../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="../../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="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><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="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
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</li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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@@ -160,110 +166,129 @@
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</li>
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</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../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="../../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="../../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="../benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../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="../benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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||||
</ul>
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||||
</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-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -282,10 +307,9 @@
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||||
<div role="navigation" aria-label="Page navigation">
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<ul class="wy-breadcrumbs">
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<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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||||
<li class="breadcrumb-item active"><span class="section-number">5.1.2. </span>Reducing CPU Usage with Orbbec ROS Package</li>
|
||||
<li class="breadcrumb-item active">Reducing CPU Usage with Orbbec ROS Package</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../../_sources/source/5_advanced_guide/performance/lower_cpu_usage.md.txt" rel="nofollow"> View page source</a>
|
||||
<a href="../../../_sources/source/6_benchmark/performance/lower_cpu_usage.md.txt" rel="nofollow"> View page source</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
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@@ -294,10 +318,11 @@
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="reducing-cpu-usage-with-orbbec-ros-package">
|
||||
<h1><span class="section-number">5.1.2. </span>Reducing CPU Usage with Orbbec ROS Package<a class="headerlink" href="#reducing-cpu-usage-with-orbbec-ros-package" title="Link to this heading"></a></h1>
|
||||
<h1>Reducing CPU Usage with Orbbec ROS Package<a class="headerlink" href="#reducing-cpu-usage-with-orbbec-ros-package" title="Link to this heading"></a></h1>
|
||||
<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">5.1.2.1. </span>Recommended Settings for Lower CPU Usage<a class="headerlink" href="#recommended-settings-for-lower-cpu-usage" title="Link to this heading"></a></h2>
|
||||
<h2>Recommended Settings for Lower CPU Usage<a class="headerlink" href="#recommended-settings-for-lower-cpu-usage" title="Link to this heading"></a></h2>
|
||||
<p>To achieve the lowest possible CPU usage in OrbbecSDK_ROS2, it is recommended to configure the following parameters.</p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
@@ -326,14 +351,14 @@
|
||||
</tbody>
|
||||
</table></section>
|
||||
<section id="launch-files-used-for-testing">
|
||||
<h2><span class="section-number">5.1.2.2. </span>Launch Files Used for Testing<a class="headerlink" href="#launch-files-used-for-testing" title="Link to this heading"></a></h2>
|
||||
<h2>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">5.1.2.3. </span>Test environment<a class="headerlink" href="#test-environment" title="Link to this heading"></a></h2>
|
||||
<h2>Test environment<a class="headerlink" href="#test-environment" title="Link to this heading"></a></h2>
|
||||
<p><strong>Hardware Configuration</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>CPU</strong>: Intel i7-8700 @ 3.20GHz</p></li>
|
||||
@@ -354,7 +379,7 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="test-setup">
|
||||
<h2><span class="section-number">5.1.2.4. </span>Test Setup<a class="headerlink" href="#test-setup" title="Link to this heading"></a></h2>
|
||||
<h2>Test Setup<a class="headerlink" href="#test-setup" title="Link to this heading"></a></h2>
|
||||
<p><strong>Stream Settings:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Depth / IR Left / IR Right: 848×480 @ 30fps</p></li>
|
||||
@@ -363,7 +388,7 @@
|
||||
<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">5.1.2.5. </span>Test Results<a class="headerlink" href="#test-results" title="Link to this heading"></a></h2>
|
||||
<h2>Test Results<a class="headerlink" href="#test-results" title="Link to this heading"></a></h2>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
@@ -457,7 +482,7 @@
|
||||
</table><p>Based on the test results, using only the <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code> results in a negligible change in CPU usage for both <code class="docutils literal notranslate"><span class="pre">libuvc</span></code> (+3.5%) and <code class="docutils literal notranslate"><span class="pre">v4l2</span></code> (-3.4%) compared to the no-filter benchmark, as this filter runs internally on the camera hardware. In contrast, other filters execute on the host system. Adding the <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> to the hardware filter leads to a moderate increase in CPU usage, while applying the software-based <code class="docutils literal notranslate"><span class="pre">noise_removal_filter</span></code> —either alone or combined with <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> —significantly increases CPU load. To maintain low CPU usage, it is recommended to avoid software-based filters and rely solely on the <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code>.</p>
|
||||
</section>
|
||||
<section id="further-optimizationa">
|
||||
<h2><span class="section-number">5.1.2.6. </span>Further Optimizationa<a class="headerlink" href="#further-optimizationa" title="Link to this heading"></a></h2>
|
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<h2>Further Optimizationa<a class="headerlink" href="#further-optimizationa" title="Link to this heading"></a></h2>
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<title>6.1. Building a Debian Package — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../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="../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="../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="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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||||
</li>
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||||
</ul>
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||||
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||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
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||||
</li>
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||||
</ul>
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||||
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|
||||
</ul>
|
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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||||
</li>
|
||||
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||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="developer_guide.html">6. Developer Guide</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#building-the-package">6.1.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
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|
||||
</ul>
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</li>
|
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<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
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</ul>
|
||||
</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
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</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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</ul>
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</li>
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</li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#building-the-package">7.1.3. Building the Package</a></li>
|
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</ul>
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|
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<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
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@@ -282,10 +309,10 @@
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<li class="breadcrumb-item active"><span class="section-number">7.1. </span>Building a Debian Package</li>
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<div itemprop="articleBody">
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||||
<section id="building-a-debian-package">
|
||||
<h1><span class="section-number">6.1. </span>Building a Debian Package<a class="headerlink" href="#building-a-debian-package" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">7.1. </span>Building a Debian Package<a class="headerlink" href="#building-a-debian-package" title="Link to this heading"></a></h1>
|
||||
<section id="preparing-the-environment">
|
||||
<h2><span class="section-number">6.1.1. </span>Preparing the Environment<a class="headerlink" href="#preparing-the-environment" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">7.1.1. </span>Preparing the Environment<a class="headerlink" href="#preparing-the-environment" title="Link to this heading"></a></h2>
|
||||
<p>Before starting, install the required tools:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>debhelper<span class="w"> </span>fakeroot<span class="w"> </span>python3-bloom
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="configuring-ros-dependencies">
|
||||
<h2><span class="section-number">6.1.2. </span>Configuring ROS Dependencies<a class="headerlink" href="#configuring-ros-dependencies" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">7.1.2. </span>Configuring ROS Dependencies<a class="headerlink" href="#configuring-ros-dependencies" title="Link to this heading"></a></h2>
|
||||
<p>Add the following YAML file to your system at <code class="docutils literal notranslate"><span class="pre">/etc/ros/rosdep/sources.list.d/00-orbbec.yaml</span></code>. Make sure to
|
||||
replace <code class="docutils literal notranslate"><span class="pre">focal</span></code> with the codename of your Ubuntu version and <code class="docutils literal notranslate"><span class="pre">humble</span></code> with your ROS2 distribution name:</p>
|
||||
<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">orbbec_camera_msgs</span><span class="p">:</span>
|
||||
@@ -322,7 +349,7 @@ YAML file:</p>
|
||||
</div>
|
||||
</section>
|
||||
<section id="building-the-package">
|
||||
<h2><span class="section-number">6.1.3. </span>Building the Package<a class="headerlink" href="#building-the-package" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">7.1.3. </span>Building the Package<a class="headerlink" href="#building-the-package" title="Link to this heading"></a></h2>
|
||||
<p>Navigate to your workspace and build the project:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/
|
||||
colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w"> </span>console_direct+<span class="w"> </span>--cmake-args<span class="w"> </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
|
||||
@@ -338,15 +365,15 @@ bash<span class="w"> </span>.make_deb.sh
|
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
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+118
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../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="../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="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
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</ul>
|
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|
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
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|
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</li>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
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|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -161,109 +169,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="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="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="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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
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<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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<h1><span class="section-number">6. </span>Developer Guide<a class="headerlink" href="#developer-guide" title="Link to this heading"></a></h1>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><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-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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||||
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
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</ul>
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</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#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="#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#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="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#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="#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -281,9 +308,9 @@
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<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>
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<li class="breadcrumb-item active"><span class="section-number">7. </span>Frequently Asked Questions</li>
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<li class="breadcrumb-item active"><span class="section-number">8. </span>Frequently Asked Questions</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/source/7_FAQ/FAQ.md.txt" rel="nofollow"> View page source</a>
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@@ -292,13 +319,13 @@
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<div itemprop="articleBody">
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<section id="frequently-asked-questions">
|
||||
<h1><span class="section-number">7. </span>Frequently Asked Questions<a class="headerlink" href="#frequently-asked-questions" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">8. </span>Frequently Asked Questions<a class="headerlink" href="#frequently-asked-questions" title="Link to this heading"></a></h1>
|
||||
<section id="unexpected-crash">
|
||||
<h2><span class="section-number">7.1. </span>Unexpected Crash<a class="headerlink" href="#unexpected-crash" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">8.1. </span>Unexpected Crash<a class="headerlink" href="#unexpected-crash" title="Link to this heading"></a></h2>
|
||||
<p>If the camera node crashes unexpectedly, it will generate a crash log in the current running directory: <code class="docutils literal notranslate"><span class="pre">Log/camera_crash_stack_trace_xx.log</span></code>. Please send this log to the support team or submit it to a GitHub issue for further assistance.</p>
|
||||
</section>
|
||||
<section id="no-data-stream-from-multiple-cameras">
|
||||
<h2><span class="section-number">7.2. </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">8.2. </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>
|
||||
@@ -320,14 +347,14 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="additional-troubleshooting">
|
||||
<h2><span class="section-number">7.3. </span>Additional Troubleshooting<a class="headerlink" href="#additional-troubleshooting" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">8.3. </span>Additional Troubleshooting<a class="headerlink" href="#additional-troubleshooting" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p>If you encounter other issues, set the <code class="docutils literal notranslate"><span class="pre">log_level</span></code> parameter to <code class="docutils literal notranslate"><span class="pre">debug</span></code>. This will generate an SDK log file in the running directory: <code class="docutils literal notranslate"><span class="pre">Log/OrbbecSDK.log.txt</span></code>. Please provide this file to the support team for further assistance.</p></li>
|
||||
<li><p>If firmware logs are required, set <code class="docutils literal notranslate"><span class="pre">enable_heartbeat</span></code> to <code class="docutils literal notranslate"><span class="pre">true</span></code> to activate this feature.</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="why-are-there-so-many-launch-files">
|
||||
<h2><span class="section-number">7.4. </span>Why Are There So Many Launch Files?<a class="headerlink" href="#why-are-there-so-many-launch-files" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">8.4. </span>Why Are There So Many Launch Files?<a class="headerlink" href="#why-are-there-so-many-launch-files" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p>Different cameras have varying default resolutions and image formats.</p></li>
|
||||
<li><p>To simplify usage, each camera has its own launch file.</p></li>
|
||||
@@ -339,14 +366,14 @@
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="../6_developer_guide/building_a_Debian_Package.html" class="btn btn-neutral float-left" title="6.1. Building a Debian Package" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="../7_developer_guide/building_a_Debian_Package.html" class="btn btn-neutral float-left" title="7.1. Building a Debian Package" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<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>
|
||||
|
||||
+106
-79
@@ -46,7 +46,8 @@
|
||||
<li class="toctree-l1"><a class="reference internal" href="1_overview/overview.html">1. Overview</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="1_overview/introduction.html">1.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
|
||||
@@ -85,6 +86,13 @@
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer tutorial</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
@@ -159,109 +167,128 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#multi-camera">5.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html">5.1.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.1.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.1.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html">5.1.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.1.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.1.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.1.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.1.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.1.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.1.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.1.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.1.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.1.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.1.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#configuration-modes">5.2. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html">5.2.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.2.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.2.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.2.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.2.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/depth_work_mode_switch.html">5.2.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html">5.2.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.2.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.2.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.2.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html">5.2.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.2.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.2.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.2.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/predefined_presets.html">5.2.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html">5.2.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.2.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#gemini-335le">5.2.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.2.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="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="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="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="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="6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="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="7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="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="6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/performance.html">6.4. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/performance.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#output-data-files">6.4.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/performance.html#reducing-cpu-usage-with-orbbec-ros-package">6.4.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#recommended-settings-for-lower-cpu-usage">6.4.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#launch-files-used-for-testing">6.4.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#test-environment">6.4.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#test-setup">6.4.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#test-results">6.4.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/performance.html#efficient-intra-process-communication">6.4.3. Efficient intra-process communication</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#introduction">6.4.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#example">6.4.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -311,7 +338,7 @@ language governing permissions and limitations under the License.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
<span class="lastupdated">Last updated on 2025-09-25 13:04:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
Reference in New Issue
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