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<title>5.3.1. Aligning Depth to Color in ROS 2 &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
<title>5.2.1. Aligning Depth to Color in ROS 2 &mdash; 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>
<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>
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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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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>
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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-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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@@ -283,7 +310,7 @@
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<div itemprop="articleBody">
<section id="aligning-depth-to-color-in-ros-2">
<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>
<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>
@@ -316,7 +343,7 @@
</ol>
</section>
<section id="selecting-topics-in-rviz2">
<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>
@@ -326,7 +353,7 @@
</ol>
</section>
<section id="example-of-depth-to-color-overlay">
<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>
<p><img alt="Depth to Color Overlay Image" src="../../../_images/image4.jpg" /></p>
</section>
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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="../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>
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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-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>
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<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>
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<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>
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<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>
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<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>
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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 &amp; 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>
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<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>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
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<section id="configuration-of-depth-nfov-and-wfov-modes">
<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>
<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>
<p>For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of
Depth and IR in the launch file.
In launch file, depth_width, depth_height, ir_width, ir_height represents the resolution of the depth and the resolution of
@@ -313,15 +340,15 @@ resolutions is as follows:</p>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.1.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.1.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.1.2.4. Run the following command to start the multi-camera synced</a></li>
</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 &amp; 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 &amp; 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 &amp; 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 &amp; 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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</li>
</ul>
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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>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/performance.html">6.4. Performance &amp; 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>
</li>
</ul>
@@ -283,7 +310,7 @@
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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">5.3.3. </span>Depth work mode switch</li>
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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>
<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>
<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>
<ul class="simple">
@@ -331,15 +358,15 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
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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 @@
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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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<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">
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; 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>
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<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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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>
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<li class="breadcrumb-item active"><span class="section-number">5.3.4. </span>Disparity_search_offset</li>
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@@ -294,17 +321,17 @@
<div itemprop="articleBody">
<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>
@@ -380,7 +407,7 @@
</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
</pre></div>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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<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>
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<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>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-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>
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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#configuring-ros-dependencies">7.1.2. Configuring ROS Dependencies</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>
<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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@@ -283,7 +310,7 @@
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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">5.3.5. </span>Using interleave_ae with Gemini330 series cameras</li>
<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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@@ -294,12 +321,12 @@
<div itemprop="articleBody">
<section id="using-interleave-ae-with-gemini330-series-cameras">
<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">
<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">
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> : Set laser or hdr interleave.</p></li>
@@ -337,7 +364,7 @@
</ul>
</section>
<section id="run-the-launch">
<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>
<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
</pre></div>
@@ -347,7 +374,7 @@
<p><img alt="Depth Point Cloud Visualization" src="../../../_images/interleave_ae1.jpeg" /></p>
</section>
<section id="multi-camera-synced-interleave-ae">
<h2><span class="section-number">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>
</section>
</section>
@@ -356,15 +383,15 @@
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; 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>
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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>
<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 &amp; 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 &amp; 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 &amp; 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 &amp; 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 &amp; 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>
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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">5.3.7. </span>Net_camera</li>
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@@ -294,12 +321,13 @@
<div itemprop="articleBody">
<section id="net-camera">
<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">
<h2><span class="section-number">5.3.7.1. </span>Femto Mega &amp; 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 &amp; 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">
<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>
<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>
@@ -364,15 +392,15 @@
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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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@@ -87,6 +88,13 @@
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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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@@ -161,109 +169,128 @@
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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 &amp; 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>
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<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>
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<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>
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<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>
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<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>
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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 &amp; 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>
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<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>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; 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>
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<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<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>
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<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<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>
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<li class="toctree-l3 current"><a class="current reference internal" href="#">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 &amp; 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 current"><a class="current reference internal" href="#">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 &amp; 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>
<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>
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<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-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 &amp; 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>
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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>
<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#further-optimizationa">6.4.2.6. Further Optimizationa</a></li>
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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-l3"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-optimization-for-orbbec-camera-with-ros2">6.4.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#adjusting-system-parameters">6.4.4.1. Adjusting System Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/performance.html#fast-dds-configuration">6.4.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-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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<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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@@ -283,7 +310,7 @@
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