diff --git a/orbbec_camera/examples/README.MD b/orbbec_camera/examples/README.MD index e489c965..3c420e65 100644 --- a/orbbec_camera/examples/README.MD +++ b/orbbec_camera/examples/README.MD @@ -1,7 +1,3 @@ -# benchmark - -The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble). - # lower_cpu_usage How to reduce CPU usage of one or more cameras in OrbbecSDK_ROS2. @@ -10,6 +6,14 @@ How to reduce CPU usage of one or more cameras in OrbbecSDK_ROS2. How to use multi-camera synced in OrbbecSDK_ROS2. +# interleave_ae_mode + +How to use interleave_ae in OrbbecSDK_ROS2. + # multi_camera_synced_verification_tool How to verify the synchronization accuracy of multi-camera synced. + +# benchmark + +The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble). diff --git a/orbbec_camera/examples/benchmark/README.MD b/orbbec_camera/examples/benchmark/README.MD index 66416749..ab9c0207 100644 --- a/orbbec_camera/examples/benchmark/README.MD +++ b/orbbec_camera/examples/benchmark/README.MD @@ -1,4 +1,4 @@ -# ob_benchmark tool +# Ob_benchmark tool > The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble) @@ -26,10 +26,8 @@ * `camera_name`: Names of the cameras to be configured. Example: `"camera_01"`, `"camera_02"`, etc. * `process_name`: The name of the process to be monitored. For example, `"component_conta"` will monitor the data of the container process. - * `switch_cycle`: The cycle time for switching configurations, in seconds. For example, setting it to `300` means the configuration will switch every 300 seconds. * `test_cycle`: The testing cycle, in seconds. For example, setting it to `1` means the tool will collect data for the monitored process every 1 second. - * `skip_number`: The number of data points to skip. For example, setting it to `30` means that the first 30 data points will be ignored. ### Camera configuration (launch files) diff --git a/orbbec_camera/examples/interleave_ae_mode/README.MD b/orbbec_camera/examples/interleave_ae_mode/README.MD new file mode 100644 index 00000000..5a785c88 --- /dev/null +++ b/orbbec_camera/examples/interleave_ae_mode/README.MD @@ -0,0 +1,69 @@ +# Using interleave_ae with Gemini330 series cameras + +> This section describes how to use interleave_ae in Gemini330 series cameras (minimum camera firmware version [1.4.00](https://www.orbbec.com/docs/g330-firmware-release/)) + +## Parameter Introduction + +The interleave_ae related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py) + +* `interleave_ae_mode` : Set laser or hdr interleave. +* `interleave_frame_enable` : enable interleave frame mode. + +* `interleave_skip_enable` : enable skip frame mode. +* `interleave_skip_index` : Set 0 for skip pattern ir, set 1 for skip flood ir. + +### interleave hdr + +When the `interleave_ae_mode` parameter is set to `hdr` and `interleave_frame_enable `is set to `true`, interleave hdr will be enabled + +* `hdr_index1_laser_control` : Frame 1 laser switch settings. +* `hdr_index1_depth_exposure` : Frame 1 depth exposure value setting, not in AE mode. + +* `hdr_index1_depth_gain` : Frame 1 depth gain value setting, not in AE mode. +* `hdr_index1_ir_brightness` : Frame 1 ir gain value setting. + +* `hdr_index1_ir_ae_max_exposure` : Frame 1 ir maximum exposure value setting in AE (auto exposure). +* `hdr_index0_laser_control`: Frame 0 laser switch settings. + +* `hdr_index0_depth_exposure`: Frame 0 depth exposure value setting, not in AE mode. +* `hdr_index0_depth_gain` : Frame 0 depth gain value setting, not in AE mode. + +* `hdr_index0_ir_brightness` : Frame 0 ir gain value setting. +* `hdr_index0_ir_ae_max_exposure` : Frame 0 ir maximum exposure value setting in AE (auto exposure). + +### interleave laser + +When the `interleave_ae_mode` parameter is set to `laser` and `interleave_frame_enable `is set to `true`, interleave laser will be enabled + +* `laser_index1_laser_control` : Frame 1 laser switch settings. +* `laser_index1_depth_exposure` : Frame 1 depth exposure value setting, not in AE mode. + +* `laser_index1_depth_gain` : Frame 1 depth gain value setting, not in AE mode. +* `laser_index1_ir_brightness` : Frame 1 ir gain value setting. + +* `laser_index1_ir_ae_max_exposure` : Frame 1 ir maximum exposure value setting in AE (auto exposure). +* `laser_index0_laser_control` : Frame 0 laser switch settings. + +* `laser_index0_depth_exposure` : Frame 0 depth exposure value setting, not in AE mode. +* `laser_index0_depth_gain` : Frame 0 depth gain value setting, not in AE mode. + +* `laser_index0_ir_brightness` : Frame 0 ir gain value setting. +* `laser_index0_ir_ae_max_exposure` : Frame 0 ir maximum exposure value setting in AE (auto exposure). + +## Run the launch + +Setting the interleave_ae parameter,`colcon build` again and run launch + +```bash +ros2 launch orbbec_camera gemini_330_series.launch.py +``` + +**Example Visualization ** + +![Depth Point Cloud Visualization](image/interleave_ae0.jpeg) + +![Depth Point Cloud Visualization](image/interleave_ae1.jpeg) + +## Multi_camera_synced + Interleave_ae + +Please refer to [multi_camera_synced](../multi_camera_synced/README.MD) and [Parameter Introduction](#parameter-introduction) diff --git a/orbbec_camera/examples/interleave_ae_mode/image/interleave_ae0.jpeg b/orbbec_camera/examples/interleave_ae_mode/image/interleave_ae0.jpeg new file mode 100644 index 00000000..7655e93f Binary files /dev/null and b/orbbec_camera/examples/interleave_ae_mode/image/interleave_ae0.jpeg differ diff --git a/orbbec_camera/examples/interleave_ae_mode/image/interleave_ae1.jpeg b/orbbec_camera/examples/interleave_ae_mode/image/interleave_ae1.jpeg new file mode 100644 index 00000000..ac4a770d Binary files /dev/null and b/orbbec_camera/examples/interleave_ae_mode/image/interleave_ae1.jpeg differ diff --git a/orbbec_camera/examples/multi_camera_synced_verification_tool/README.MD b/orbbec_camera/examples/multi_camera_synced_verification_tool/README.MD index 32a2aeee..469e9616 100644 --- a/orbbec_camera/examples/multi_camera_synced_verification_tool/README.MD +++ b/orbbec_camera/examples/multi_camera_synced_verification_tool/README.MD @@ -1,4 +1,4 @@ -# multi_camera_synced_verification_tool +# Multi_camera_synced_verification_tool > This article will introduce how to verify the synchronization accuracy of multi-camera synchronization. >