Add interleave_ae_mode examples

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).

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)

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)

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.
 >